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Add scaling parameters to upstream JTC #1465

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Merged
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Jul 28, 2025
Merged

Add scaling parameters to upstream JTC #1465

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17 changes: 11 additions & 6 deletions ur_robot_driver/config/ur_controllers.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -97,12 +97,17 @@ joint_trajectory_controller:
constraints:
stopped_velocity_tolerance: 0.2
goal_time: 0.0
$(var tf_prefix)shoulder_pan_joint: { trajectory: 0.2, goal: 0.1 }
$(var tf_prefix)shoulder_lift_joint: { trajectory: 0.2, goal: 0.1 }
$(var tf_prefix)elbow_joint: { trajectory: 0.2, goal: 0.1 }
$(var tf_prefix)wrist_1_joint: { trajectory: 0.2, goal: 0.1 }
$(var tf_prefix)wrist_2_joint: { trajectory: 0.2, goal: 0.1 }
$(var tf_prefix)wrist_3_joint: { trajectory: 0.2, goal: 0.1 }
$(var tf_prefix)shoulder_pan_joint: {trajectory: 0.2, goal: 0.1}
$(var tf_prefix)shoulder_lift_joint: {trajectory: 0.2, goal: 0.1}
$(var tf_prefix)elbow_joint: {trajectory: 0.2, goal: 0.1}
$(var tf_prefix)wrist_1_joint: {trajectory: 0.2, goal: 0.1}
$(var tf_prefix)wrist_2_joint: {trajectory: 0.2, goal: 0.1}
$(var tf_prefix)wrist_3_joint: {trajectory: 0.2, goal: 0.1}
speed_scaling:
state_interface: $(var tf_prefix)speed_scaling/speed_scaling_factor
# Setting the command interface currently would clash with the io_and_status_controller
# This will probably be changed in the future.
# command_interface: $(var tf_prefix)speed_scaling/target_speed_fraction_cmd


scaled_joint_trajectory_controller:
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