driver: use default rate for JTC goal monitor. (UniversalRobots#221)

The old values overrode the default of 20 Hz, which is low and leads to a worst-case delay of approx 100 ms between a goal state change and action clients being notified of that change.

This restores the rate to the default of 20 Hz.

If a higher update-rate would be desirable for a particular application, users should change it in their own configuration of the controllers.

Author: gavanderhoorn

ur_robot_driver/config/ur10_controllers.yaml

@@ -43,7 +43,7 @@ scaled_pos_traj_controller:
       wrist_3_joint: {trajectory: 0.2, goal: 0.1}
    stop_trajectory_duration: 0.5
    state_publish_rate: *loop_hz
-   action_monitor_rate: 10
+   action_monitor_rate: 20
 
 pos_traj_controller:
    type: position_controllers/JointTrajectoryController
@@ -59,7 +59,7 @@ pos_traj_controller:
       wrist_3_joint: {trajectory: 0.2, goal: 0.1}
    stop_trajectory_duration: 0.5
    state_publish_rate: *loop_hz
-   action_monitor_rate: 10
+   action_monitor_rate: 20
 
 scaled_vel_traj_controller:
    type: velocity_controllers/ScaledJointTrajectoryController
@@ -73,9 +73,6 @@ scaled_vel_traj_controller:
       wrist_1_joint: {trajectory: 0.1, goal: 0.1}
       wrist_2_joint: {trajectory: 0.1, goal: 0.1}
       wrist_3_joint: {trajectory: 0.1, goal: 0.1}
-   stop_trajectory_duration: 0.5
-   state_publish_rate:  *loop_hz
-   action_monitor_rate: 10
    gains:
       #!!These values have not been optimized!!
       shoulder_pan_joint:  {p: 5.0,  i: 0.05, d: 0.1, i_clamp: 1}
@@ -84,7 +81,6 @@ scaled_vel_traj_controller:
       wrist_1_joint:       {p: 5.0,  i: 0.05, d: 0.1, i_clamp: 1}
       wrist_2_joint:       {p: 5.0,  i: 0.05, d: 0.1, i_clamp: 1}
       wrist_3_joint:       {p: 5.0,  i: 0.05, d: 0.1, i_clamp: 1}
-
    # Use a feedforward term to reduce the size of PID gains
    velocity_ff:
       shoulder_pan_joint: 1.0
@@ -93,10 +89,9 @@ scaled_vel_traj_controller:
       wrist_1_joint: 1.0
       wrist_2_joint: 1.0
       wrist_3_joint: 1.0
-
-   # state_publish_rate:  50 # Defaults to 50
-   # action_monitor_rate: 20 # Defaults to 20
-   #stop_trajectory_duration: 0 # Defaults to 0.0
+   stop_trajectory_duration: 0.5
+   state_publish_rate: *loop_hz
+   action_monitor_rate: 20
 
 vel_traj_controller:
    type: velocity_controllers/JointTrajectoryController
@@ -110,9 +105,6 @@ vel_traj_controller:
       wrist_1_joint: {trajectory: 0.1, goal: 0.1}
       wrist_2_joint: {trajectory: 0.1, goal: 0.1}
       wrist_3_joint: {trajectory: 0.1, goal: 0.1}
-   stop_trajectory_duration: 0.5
-   state_publish_rate:  *loop_hz
-   action_monitor_rate: 10
    gains:
       #!!These values have not been optimized!!
       shoulder_pan_joint:  {p: 5.0,  i: 0.05, d: 0.1, i_clamp: 1}
@@ -121,7 +113,6 @@ vel_traj_controller:
       wrist_1_joint:       {p: 5.0,  i: 0.05, d: 0.1, i_clamp: 1}
       wrist_2_joint:       {p: 5.0,  i: 0.05, d: 0.1, i_clamp: 1}
       wrist_3_joint:       {p: 5.0,  i: 0.05, d: 0.1, i_clamp: 1}
-
    # Use a feedforward term to reduce the size of PID gains
    velocity_ff:
       shoulder_pan_joint: 1.0
@@ -130,10 +121,9 @@ vel_traj_controller:
       wrist_1_joint: 1.0
       wrist_2_joint: 1.0
       wrist_3_joint: 1.0
-
-   # state_publish_rate:  50 # Defaults to 50
-   # action_monitor_rate: 20 # Defaults to 20
-   #stop_trajectory_duration: 0 # Defaults to 0.0
+   stop_trajectory_duration: 0.5
+   state_publish_rate: *loop_hz
+   action_monitor_rate: 20
 
 # Pass an array of joint velocities directly to the joints
 joint_group_vel_controller:

ur_robot_driver/config/ur10e_controllers.yaml

@@ -43,7 +43,7 @@ scaled_pos_traj_controller:
       wrist_3_joint: {trajectory: 0.2, goal: 0.1}
    stop_trajectory_duration: 0.5
    state_publish_rate: *loop_hz
-   action_monitor_rate: 10
+   action_monitor_rate: 20
 
 pos_traj_controller:
    type: position_controllers/JointTrajectoryController
@@ -59,7 +59,7 @@ pos_traj_controller:
       wrist_3_joint: {trajectory: 0.2, goal: 0.1}
    stop_trajectory_duration: 0.5
    state_publish_rate: *loop_hz
-   action_monitor_rate: 10
+   action_monitor_rate: 20
 
 scaled_vel_traj_controller:
    type: velocity_controllers/ScaledJointTrajectoryController
@@ -73,9 +73,6 @@ scaled_vel_traj_controller:
       wrist_1_joint: {trajectory: 0.1, goal: 0.1}
       wrist_2_joint: {trajectory: 0.1, goal: 0.1}
       wrist_3_joint: {trajectory: 0.1, goal: 0.1}
-   stop_trajectory_duration: 0.5
-   state_publish_rate:  *loop_hz
-   action_monitor_rate: 10
    gains:
       #!!These values have not been optimized!!
       shoulder_pan_joint:  {p: 5.0,  i: 0.05, d: 0.1, i_clamp: 1}
@@ -84,7 +81,6 @@ scaled_vel_traj_controller:
       wrist_1_joint:       {p: 5.0,  i: 0.05, d: 0.1, i_clamp: 1}
       wrist_2_joint:       {p: 5.0,  i: 0.05, d: 0.1, i_clamp: 1}
       wrist_3_joint:       {p: 5.0,  i: 0.05, d: 0.1, i_clamp: 1}
-
    # Use a feedforward term to reduce the size of PID gains
    velocity_ff:
       shoulder_pan_joint: 1.0
@@ -93,10 +89,9 @@ scaled_vel_traj_controller:
       wrist_1_joint: 1.0
       wrist_2_joint: 1.0
       wrist_3_joint: 1.0
-
-   # state_publish_rate:  50 # Defaults to 50
-   # action_monitor_rate: 20 # Defaults to 20
-   #stop_trajectory_duration: 0 # Defaults to 0.0
+   stop_trajectory_duration: 0.5
+   state_publish_rate: *loop_hz
+   action_monitor_rate: 20
 
 vel_traj_controller:
    type: velocity_controllers/JointTrajectoryController
@@ -110,9 +105,6 @@ vel_traj_controller:
       wrist_1_joint: {trajectory: 0.1, goal: 0.1}
       wrist_2_joint: {trajectory: 0.1, goal: 0.1}
       wrist_3_joint: {trajectory: 0.1, goal: 0.1}
-   stop_trajectory_duration: 0.5
-   state_publish_rate:  *loop_hz
-   action_monitor_rate: 10
    gains:
       #!!These values have not been optimized!!
       shoulder_pan_joint:  {p: 5.0,  i: 0.05, d: 0.1, i_clamp: 1}
@@ -121,7 +113,6 @@ vel_traj_controller:
       wrist_1_joint:       {p: 5.0,  i: 0.05, d: 0.1, i_clamp: 1}
       wrist_2_joint:       {p: 5.0,  i: 0.05, d: 0.1, i_clamp: 1}
       wrist_3_joint:       {p: 5.0,  i: 0.05, d: 0.1, i_clamp: 1}
-
    # Use a feedforward term to reduce the size of PID gains
    velocity_ff:
       shoulder_pan_joint: 1.0
@@ -130,10 +121,9 @@ vel_traj_controller:
       wrist_1_joint: 1.0
       wrist_2_joint: 1.0
       wrist_3_joint: 1.0
-
-   # state_publish_rate:  50 # Defaults to 50
-   # action_monitor_rate: 20 # Defaults to 20
-   #stop_trajectory_duration: 0 # Defaults to 0.0
+   stop_trajectory_duration: 0.5
+   state_publish_rate: *loop_hz
+   action_monitor_rate: 20
 
 # Pass an array of joint velocities directly to the joints
 joint_group_vel_controller:

ur_robot_driver/config/ur3_controllers.yaml

@@ -43,7 +43,7 @@ scaled_pos_traj_controller:
       wrist_3_joint: {trajectory: 0.2, goal: 0.1}
    stop_trajectory_duration: 0.5
    state_publish_rate: *loop_hz
-   action_monitor_rate: 10
+   action_monitor_rate: 20
 
 pos_traj_controller:
    type: position_controllers/JointTrajectoryController
@@ -59,8 +59,7 @@ pos_traj_controller:
       wrist_3_joint: {trajectory: 0.2, goal: 0.1}
    stop_trajectory_duration: 0.5
    state_publish_rate: *loop_hz
-   action_monitor_rate: 10
-
+   action_monitor_rate: 20
 
 scaled_vel_traj_controller:
    type: velocity_controllers/ScaledJointTrajectoryController
@@ -74,9 +73,6 @@ scaled_vel_traj_controller:
       wrist_1_joint: {trajectory: 0.1, goal: 0.1}
       wrist_2_joint: {trajectory: 0.1, goal: 0.1}
       wrist_3_joint: {trajectory: 0.1, goal: 0.1}
-   stop_trajectory_duration: 0.5
-   state_publish_rate:  *loop_hz
-   action_monitor_rate: 10
    gains:
       #!!These values have not been optimized!!
       shoulder_pan_joint:  {p: 5.0,  i: 0.05, d: 0.1, i_clamp: 1}
@@ -85,7 +81,6 @@ scaled_vel_traj_controller:
       wrist_1_joint:       {p: 5.0,  i: 0.05, d: 0.1, i_clamp: 1}
       wrist_2_joint:       {p: 5.0,  i: 0.05, d: 0.1, i_clamp: 1}
       wrist_3_joint:       {p: 5.0,  i: 0.05, d: 0.1, i_clamp: 1}
-
    # Use a feedforward term to reduce the size of PID gains
    velocity_ff:
       shoulder_pan_joint: 1.0
@@ -94,10 +89,9 @@ scaled_vel_traj_controller:
       wrist_1_joint: 1.0
       wrist_2_joint: 1.0
       wrist_3_joint: 1.0
-
-   # state_publish_rate:  50 # Defaults to 50
-   # action_monitor_rate: 20 # Defaults to 20
-   #stop_trajectory_duration: 0 # Defaults to 0.0
+   stop_trajectory_duration: 0.5
+   state_publish_rate: *loop_hz
+   action_monitor_rate: 20
 
 vel_traj_controller:
    type: velocity_controllers/JointTrajectoryController
@@ -111,9 +105,6 @@ vel_traj_controller:
       wrist_1_joint: {trajectory: 0.1, goal: 0.1}
       wrist_2_joint: {trajectory: 0.1, goal: 0.1}
       wrist_3_joint: {trajectory: 0.1, goal: 0.1}
-   stop_trajectory_duration: 0.5
-   state_publish_rate:  *loop_hz
-   action_monitor_rate: 10
    gains:
       #!!These values have not been optimized!!
       shoulder_pan_joint:  {p: 5.0,  i: 0.05, d: 0.1, i_clamp: 1}
@@ -122,7 +113,6 @@ vel_traj_controller:
       wrist_1_joint:       {p: 5.0,  i: 0.05, d: 0.1, i_clamp: 1}
       wrist_2_joint:       {p: 5.0,  i: 0.05, d: 0.1, i_clamp: 1}
       wrist_3_joint:       {p: 5.0,  i: 0.05, d: 0.1, i_clamp: 1}
-
    # Use a feedforward term to reduce the size of PID gains
    velocity_ff:
       shoulder_pan_joint: 1.0
@@ -131,10 +121,9 @@ vel_traj_controller:
       wrist_1_joint: 1.0
       wrist_2_joint: 1.0
       wrist_3_joint: 1.0
-
-   # state_publish_rate:  50 # Defaults to 50
-   # action_monitor_rate: 20 # Defaults to 20
-   #stop_trajectory_duration: 0 # Defaults to 0.0
+   stop_trajectory_duration: 0.5
+   state_publish_rate: *loop_hz
+   action_monitor_rate: 20
 
 # Pass an array of joint velocities directly to the joints
 joint_group_vel_controller:

ur_robot_driver/config/ur3e_controllers.yaml

@@ -43,7 +43,7 @@ scaled_pos_traj_controller:
       wrist_3_joint: {trajectory: 0.2, goal: 0.1}
    stop_trajectory_duration: 0.5
    state_publish_rate: *loop_hz
-   action_monitor_rate: 10
+   action_monitor_rate: 20
 
 pos_traj_controller:
    type: position_controllers/JointTrajectoryController
@@ -59,7 +59,7 @@ pos_traj_controller:
       wrist_3_joint: {trajectory: 0.2, goal: 0.1}
    stop_trajectory_duration: 0.5
    state_publish_rate: *loop_hz
-   action_monitor_rate: 10
+   action_monitor_rate: 20
 
 scaled_vel_traj_controller:
    type: velocity_controllers/ScaledJointTrajectoryController
@@ -73,9 +73,6 @@ scaled_vel_traj_controller:
       wrist_1_joint: {trajectory: 0.1, goal: 0.1}
       wrist_2_joint: {trajectory: 0.1, goal: 0.1}
       wrist_3_joint: {trajectory: 0.1, goal: 0.1}
-   stop_trajectory_duration: 0.5
-   state_publish_rate:  *loop_hz
-   action_monitor_rate: 10
    gains:
       #!!These values have not been optimized!!
       shoulder_pan_joint:  {p: 5.0,  i: 0.05, d: 0.1, i_clamp: 1}
@@ -84,7 +81,6 @@ scaled_vel_traj_controller:
       wrist_1_joint:       {p: 5.0,  i: 0.05, d: 0.1, i_clamp: 1}
       wrist_2_joint:       {p: 5.0,  i: 0.05, d: 0.1, i_clamp: 1}
       wrist_3_joint:       {p: 5.0,  i: 0.05, d: 0.1, i_clamp: 1}
-
    # Use a feedforward term to reduce the size of PID gains
    velocity_ff:
       shoulder_pan_joint: 1.0
@@ -93,10 +89,9 @@ scaled_vel_traj_controller:
       wrist_1_joint: 1.0
       wrist_2_joint: 1.0
       wrist_3_joint: 1.0
-
-   # state_publish_rate:  50 # Defaults to 50
-   # action_monitor_rate: 20 # Defaults to 20
-   #stop_trajectory_duration: 0 # Defaults to 0.0
+   stop_trajectory_duration: 0.5
+   state_publish_rate: *loop_hz
+   action_monitor_rate: 20
 
 vel_traj_controller:
    type: velocity_controllers/JointTrajectoryController
@@ -110,9 +105,6 @@ vel_traj_controller:
       wrist_1_joint: {trajectory: 0.1, goal: 0.1}
       wrist_2_joint: {trajectory: 0.1, goal: 0.1}
       wrist_3_joint: {trajectory: 0.1, goal: 0.1}
-   stop_trajectory_duration: 0.5
-   state_publish_rate:  *loop_hz
-   action_monitor_rate: 10
    gains:
       #!!These values have not been optimized!!
       shoulder_pan_joint:  {p: 5.0,  i: 0.05, d: 0.1, i_clamp: 1}
@@ -121,7 +113,6 @@ vel_traj_controller:
       wrist_1_joint:       {p: 5.0,  i: 0.05, d: 0.1, i_clamp: 1}
       wrist_2_joint:       {p: 5.0,  i: 0.05, d: 0.1, i_clamp: 1}
       wrist_3_joint:       {p: 5.0,  i: 0.05, d: 0.1, i_clamp: 1}
-
    # Use a feedforward term to reduce the size of PID gains
    velocity_ff:
       shoulder_pan_joint: 1.0
@@ -130,10 +121,9 @@ vel_traj_controller:
       wrist_1_joint: 1.0
       wrist_2_joint: 1.0
       wrist_3_joint: 1.0
-
-   # state_publish_rate:  50 # Defaults to 50
-   # action_monitor_rate: 20 # Defaults to 20
-   #stop_trajectory_duration: 0 # Defaults to 0.0
+   stop_trajectory_duration: 0.5
+   state_publish_rate: *loop_hz
+   action_monitor_rate: 20
 
 # Pass an array of joint velocities directly to the joints
 joint_group_vel_controller: