[moveit] Disable execution_duration_monitoring by default

Felix Exner · Felix Exner · commit 92c2bb11d827 · 2024-10-08T21:16:09.000+02:00
diff --git a/ur_moveit_config/launch/ur_moveit.launch.py b/ur_moveit_config/launch/ur_moveit.launch.py
@@ -182,6 +182,8 @@ def launch_setup(context, *args, **kwargs):
         "trajectory_execution.allowed_execution_duration_scaling": 1.2,
         "trajectory_execution.allowed_goal_duration_margin": 0.5,
         "trajectory_execution.allowed_start_tolerance": 0.01,
+        # Execution time monitoring doesn't make sense with the scaled JTC
+        "trajectory_execution.execution_duration_monitoring": False,
     }
 
     planning_scene_monitor_parameters = {

Original file line number	Diff line number	Diff line change
`@@ -182,6 +182,8 @@ def launch_setup(context, args, *kwargs):`
`182`	`182`	`"trajectory_execution.allowed_execution_duration_scaling": 1.2,`
`183`	`183`	`"trajectory_execution.allowed_goal_duration_margin": 0.5,`
`184`	`184`	`"trajectory_execution.allowed_start_tolerance": 0.01,`
	`185`	`+ # Execution time monitoring doesn't make sense with the scaled JTC`
	`186`	`+ "trajectory_execution.execution_duration_monitoring": False,`
`185`	`187`	`}`
`186`	`188`
`187`	`189`	`planning_scene_monitor_parameters = {`