Allow nonzero velocity at trajectory end for ros2_controllers (#198)

moveit · Mar 11, 2024 · 55d3ce0 · 55d3ce0
1 parent dad8633
commit 55d3ce0
Show file tree

Hide file tree

Showing 3 changed files with 4 additions and 0 deletions.
diff --git a/dual_arm_panda_moveit_config/config/ros2_controllers.yaml b/dual_arm_panda_moveit_config/config/ros2_controllers.yaml
@@ -28,6 +28,7 @@ left_arm_controller:
       - left_panda_joint5
       - left_panda_joint6
       - left_panda_joint7
+    allow_nonzero_velocity_at_trajectory_end: true
 
 right_arm_controller:
   ros__parameters:
@@ -44,3 +45,4 @@ right_arm_controller:
       - right_panda_joint5
       - right_panda_joint6
       - right_panda_joint7
+    allow_nonzero_velocity_at_trajectory_end: true
diff --git a/fanuc_moveit_config/config/ros2_controllers.yaml b/fanuc_moveit_config/config/ros2_controllers.yaml
@@ -24,3 +24,4 @@ fanuc_controller:
       - joint_4
       - joint_5
       - joint_6
+    allow_nonzero_velocity_at_trajectory_end: true
diff --git a/panda_moveit_config/config/ros2_controllers.yaml b/panda_moveit_config/config/ros2_controllers.yaml
@@ -28,6 +28,7 @@ panda_arm_controller:
       - panda_joint5
       - panda_joint6
       - panda_joint7
+    allow_nonzero_velocity_at_trajectory_end: true
 
 panda_hand_controller:
   ros__parameters: