Merge pull request #1300 from knorth55/pr2-ethercat-param-update

jsk-ros-pkg · Jul 17, 2021 · 00d7a7a · 00d7a7a
2 parents b50506d + ce1567c
commit 00d7a7a
Showing 1 changed file with 5 additions and 1 deletion.
diff --git a/jsk_pr2_robot/jsk_pr2_startup/pr2_bringup.launch b/jsk_pr2_robot/jsk_pr2_startup/pr2_bringup.launch
@@ -20,7 +20,11 @@
 
   <!-- pr2_etherCAT -->
   <node name="realtime_loop" machine="c1" launch-prefix="pr2-grant" pkg="pr2_ethercat" type="pr2_ethercat" args="-i ecat0 -x robot_description" output="screen" />
-  <param name="pr2_ethercat/realtime_socket_timeout" value="5000" />
+  <!-- change this parameter to prevent sudden servo off caused by ethetcat timeout -->
+  <!-- http://wiki.ros.org/ethercat_hardware/Tutorials/ChangingRealtimePacketTimeout -->
+  <!-- <param name="pr2_ethercat/realtime_socket_timeout" value="5000" /> -->
+  <param name="pr2_ethercat/realtime_socket_timeout" value="20000" />
+  <param name="pr2_ethercat/max_pd_retries" value="5" />
 
   <!-- PR2 Calibration -->
   <node name="calibrate_pr2" pkg="pr2_bringup" type="calibrate_pr2.py" output="screen"