Rename cartesian_limits.yaml

moveit · Jul 8, 2022 · 8493796 · 8493796
1 parent 2c58cf3
commit 8493796
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diff --git a/...oveit_config/config/cartesian_limits.yaml → ..._config/config/pilz_cartesian_limits.yaml b/...oveit_config/config/cartesian_limits.yaml → ..._config/config/pilz_cartesian_limits.yaml
@@ -1,3 +1,4 @@
+# Cartesian limits for the Pilz planner
 cartesian_limits:
   max_trans_vel: 1.0
   max_trans_acc: 2.25

diff --git a/panda_moveit_config/config/panda.ros2_control.xacro b/panda_moveit_config/config/panda.ros2_control.xacro
@@ -10,52 +10,73 @@
             </hardware>
             <joint name="panda_joint1">
                 <command_interface name="position"/>
+                <command_interface name="velocity"/>
+                <command_interface name="acceleration"/>
                 <state_interface name="position">
                   <param name="initial_value">${initial_positions['panda_joint1']}</param>
                 </state_interface>
                 <state_interface name="velocity"/>
+                <state_interface name="acceleration"/>
             </joint>
             <joint name="panda_joint2">
                 <command_interface name="position"/>
+                <command_interface name="velocity"/>
+                <command_interface name="acceleration"/>
                 <state_interface name="position">
                   <param name="initial_value">${initial_positions['panda_joint2']}</param>
                 </state_interface>
                 <state_interface name="velocity"/>
+                <state_interface name="acceleration"/>
             </joint>
             <joint name="panda_joint3">
                 <command_interface name="position"/>
+                <command_interface name="velocity"/>
+                <command_interface name="acceleration"/>
                 <state_interface name="position">
                   <param name="initial_value">${initial_positions['panda_joint3']}</param>
                 </state_interface>
                 <state_interface name="velocity"/>
+                <state_interface name="acceleration"/>
             </joint>
             <joint name="panda_joint4">
                 <command_interface name="position"/>
+                <command_interface name="velocity"/>
+                <command_interface name="acceleration"/>
                 <state_interface name="position">
                   <param name="initial_value">${initial_positions['panda_joint4']}</param>
                 </state_interface>
                 <state_interface name="velocity"/>
+                <state_interface name="acceleration"/>
             </joint>
             <joint name="panda_joint5">
                 <command_interface name="position"/>
+                <command_interface name="velocity"/>
+                <command_interface name="acceleration"/>
                 <state_interface name="position">
                   <param name="initial_value">${initial_positions['panda_joint5']}</param>
                 </state_interface>
                 <state_interface name="velocity"/>
+                <state_interface name="acceleration"/>
             </joint>
             <joint name="panda_joint6">
                 <command_interface name="position"/>
+                <command_interface name="velocity"/>
+                <command_interface name="acceleration"/>
                 <state_interface name="position">
                   <param name="initial_value">${initial_positions['panda_joint6']}</param>
                 </state_interface>
                 <state_interface name="velocity"/>
+                <state_interface name="acceleration"/>
             </joint>
             <joint name="panda_joint7">
                 <command_interface name="position"/>
+                <command_interface name="velocity"/>
+                <command_interface name="acceleration"/>
                 <state_interface name="position">
                   <param name="initial_value">${initial_positions['panda_joint7']}</param>
                 </state_interface>
                 <state_interface name="velocity"/>
+                <state_interface name="acceleration"/>
             </joint>
         </ros2_control>
     </xacro:macro>

diff --git a/...oveit_config/config/cartesian_limits.yaml → ..._config/config/pilz_cartesian_limits.yaml b/...oveit_config/config/cartesian_limits.yaml → ..._config/config/pilz_cartesian_limits.yaml
@@ -1,3 +1,4 @@
+# Cartesian limits for the Pilz planner
 cartesian_limits:
   max_trans_vel: 1.0
   max_trans_acc: 2.25

diff --git a/panda_moveit_config/config/ros2_controllers.yaml b/panda_moveit_config/config/ros2_controllers.yaml
@@ -17,9 +17,12 @@ panda_arm_controller:
   ros__parameters:
     command_interfaces:
       - position
+      - velocity
+      - acceleration
     state_interfaces:
       - position
       - velocity
+      - acceleration
     joints:
       - panda_joint1
       - panda_joint2
@@ -28,6 +31,43 @@ panda_arm_controller:
       - panda_joint5
       - panda_joint6
       - panda_joint7
+    interpolation_method: none
+    joint_limits:
+      panda_joint1:
+        has_velocity_limits: true
+        max_velocity: 2.1750
+        has_acceleration_limits: true
+        max_acceleration: 3.75
+      panda_joint2:
+        has_velocity_limits: true
+        max_velocity: 2.1750
+        has_acceleration_limits: true
+        max_acceleration: 1.875
+      panda_joint3:
+        has_velocity_limits: true
+        max_velocity: 2.1750
+        has_acceleration_limits: true
+        max_acceleration: 2.5
+      panda_joint4:
+        has_velocity_limits: true
+        max_velocity: 2.1750
+        has_acceleration_limits: true
+        max_acceleration: 3.125
+      panda_joint5:
+        has_velocity_limits: true
+        max_velocity: 2.6100
+        has_acceleration_limits: true
+        max_acceleration: 3.75
+      panda_joint6:
+        has_velocity_limits: true
+        max_velocity: 2.6100
+        has_acceleration_limits: true
+        max_acceleration: 5.0
+      panda_joint7:
+        has_velocity_limits: true
+        max_velocity: 2.6100
+        has_acceleration_limits: true
+        max_acceleration: 5.0
 
 panda_hand_controller:
   ros__parameters: