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use scaled_vel_traj_controller in moveit_config

asked 2020-09-14 03:49:35 -0500

Victor Wu
53 ●16 ●26 ●24

updated 2020-09-14 03:55:35 -0500

Since the use of ur_robot_driver, I have been using scaled_pos_traj_controller in the ros_controllers.yaml file. Now I want to use scaled_vel_traj_controller. Simply changing the action_ns: in the ros_controllers.yaml file does not work. Moveit keep waiting for the scaled_vel_traj_controller to come up. I have found a ur5_controllers.yaml in the config folder under ur_robot_driver. How to adapt this to be used?

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answered 2020-09-15 01:00:37 -0500

Victor Wu
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It has been found that in the planning_execution.launch file, one should have included ur5_bringup.launch. There, one of the tags controllers, one of the default controllers to be activated was scaled_pos_traj_controller. Changing it to scaled_vel_traj_controller will bring up the scaled_vel_traj_controller. One should do the same for the stopped_controllers tag.

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Asked: 2020-09-14 03:49:35 -0500

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Last updated: Sep 15 '20

use scaled_vel_traj_controller in moveit_config edit

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use scaled_vel_traj_controller in moveit_config