Fix launch parameters in Servo demos (#2735)

Co-authored-by: Sebastian Jahr <sebastian.jahr@picknik.ai>
moveit · Mar 19, 2024 · 4f09308 · 4f09308
1 parent 68e8680
commit 4f09308
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Showing 5 changed files with 17 additions and 10 deletions.
diff --git a/moveit_ros/moveit_servo/README.md b/moveit_ros/moveit_servo/README.md
@@ -1,3 +1,3 @@
-# Moveit Servo
+# MoveIt Servo
 
 See the [Realtime Arm Servoing Tutorial](https://moveit.picknik.ai/main/doc/examples/realtime_servo/realtime_servo_tutorial.html) for installation instructions, quick-start guide, an overview about `moveit_servo`, and to learn how to set it up on your robot.
diff --git a/moveit_ros/moveit_servo/launch/demo_joint_jog.launch.py b/moveit_ros/moveit_servo/launch/demo_joint_jog.launch.py
@@ -22,8 +22,9 @@ def generate_launch_description():
         .to_dict()
     }
 
-    # This filter parameter should be >1. Increase it for greater smoothing but slower motion.
-    low_pass_filter_coeff = {"butterworth_filter_coeff": 1.5}
+    # This sets the update rate and planning group name for the acceleration limiting filter.
+    acceleration_filter_update_period = {"update_period": 0.01}
+    planning_group_name = {"planning_group_name": "panda_arm"}
 
     # RViz
     rviz_config_file = (
@@ -104,7 +105,8 @@ def generate_launch_description():
         executable="demo_joint_jog",
         parameters=[
             servo_params,
-            low_pass_filter_coeff,
+            acceleration_filter_update_period,
+            planning_group_name,
             moveit_config.robot_description,
             moveit_config.robot_description_semantic,
             moveit_config.robot_description_kinematics,

diff --git a/moveit_ros/moveit_servo/launch/demo_pose.launch.py b/moveit_ros/moveit_servo/launch/demo_pose.launch.py
@@ -22,8 +22,9 @@ def generate_launch_description():
         .to_dict()
     }
 
-    # This filter parameter should be >1. Increase it for greater smoothing but slower motion.
-    low_pass_filter_coeff = {"butterworth_filter_coeff": 1.5}
+    # This sets the update rate and planning group name for the acceleration limiting filter.
+    acceleration_filter_update_period = {"update_period": 0.01}
+    planning_group_name = {"planning_group_name": "panda_arm"}
 
     # RViz
     rviz_config_file = (
@@ -104,7 +105,8 @@ def generate_launch_description():
         executable="demo_pose",
         parameters=[
             servo_params,
-            low_pass_filter_coeff,
+            acceleration_filter_update_period,
+            planning_group_name,
             moveit_config.robot_description,
             moveit_config.robot_description_semantic,
             moveit_config.robot_description_kinematics,

diff --git a/moveit_ros/moveit_servo/launch/demo_ros_api.launch.py b/moveit_ros/moveit_servo/launch/demo_ros_api.launch.py
@@ -31,6 +31,7 @@ def generate_launch_description():
     # This sets the update rate and planning group name for the acceleration limiting filter.
     acceleration_filter_update_period = {"update_period": 0.01}
     planning_group_name = {"planning_group_name": "panda_arm"}
+
     # RViz
     rviz_config_file = (
         get_package_share_directory("moveit_servo")

diff --git a/moveit_ros/moveit_servo/launch/demo_twist.launch.py b/moveit_ros/moveit_servo/launch/demo_twist.launch.py
@@ -22,8 +22,9 @@ def generate_launch_description():
         .to_dict()
     }
 
-    # This filter parameter should be >1. Increase it for greater smoothing but slower motion.
-    low_pass_filter_coeff = {"butterworth_filter_coeff": 1.5}
+    # This sets the update rate and planning group name for the acceleration limiting filter.
+    acceleration_filter_update_period = {"update_period": 0.01}
+    planning_group_name = {"planning_group_name": "panda_arm"}
 
     # RViz
     rviz_config_file = (
@@ -104,7 +105,8 @@ def generate_launch_description():
         executable="demo_twist",
         parameters=[
             servo_params,
-            low_pass_filter_coeff,
+            acceleration_filter_update_period,
+            planning_group_name,
             moveit_config.robot_description,
             moveit_config.robot_description_semantic,
             moveit_config.robot_description_kinematics,