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lbr-stack / lbr_fri_ros2_stack

ROS 1/2 integration for KUKA LBR IIWA 7/14 and Med 7/14
https://lbr-stack.readthedocs.io/en/latest/lbr_fri_ros2_stack/lbr_fri_ros2_stack/doc/lbr_fri_ros2_stack.html
Apache License 2.0
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Velocity and acceleration limits #196

Open vopsi99 opened 2 months ago

vopsi99 commented 2 months ago

Hello, I have an issue regarding the control of the velocity and acceleration, I do not understand how do I put the limits for the these two parameters in my applications.

Could you provide some help regarding this issue?

mhubii commented 2 months ago

sorry for the late response @vopsi99 !

These parameters are currently taken from joint_limits.yaml file, e.g. for iiwa7:

https://github.com/lbr-stack/lbr_fri_ros2_stack/blob/humble/lbr_description/urdf/iiwa7/joint_limits.yaml

Note that currently the connection to the robot will be cut when you exceed these limits