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UM-ARM-Lab / kuka_iiwa_interface

Developmental controllers for the IIWA 7 robot, including a Catkinized version of the Kuka FRI SDK
BSD 2-Clause "Simplified" License
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Change max velocities & accelerations & remove extra trajectory followers #117

Closed powertj closed 3 years ago

powertj commented 3 years ago

The new limits are based on the default speeds & scaling factors. MoveIt defaults to requesting a velocity/acceleration scaling of 0.1, so 0.1 * 1 = 0.1 and 0.1 is the speed and acceleration we use in the joint path params (see the control mode params service)