Merge pull request #165 from Kinovarobotics/dev/noetic-migration

Dev/noetic migration
Kinovarobotics · Jul 6, 2021 · 72fc06e · 72fc06e
2 parents 4f7e716 + db7a30a
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diff --git a/CMakeLists.txt b/CMakeLists.txt
diff --git a/kortex_control/CMakeLists.txt b/kortex_control/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 2.8.3)
+cmake_minimum_required(VERSION 3.0.2)
 
 project(kortex_control)
 

diff --git a/kortex_description/CMakeLists.txt b/kortex_description/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 2.8.3)
+cmake_minimum_required(VERSION 3.0.2)
 
 project(kortex_description)
 

diff --git a/kortex_description/grippers/gen3_lite_2f/urdf/gen3_lite_2f_transmission_macro.xacro b/kortex_description/grippers/gen3_lite_2f/urdf/gen3_lite_2f_transmission_macro.xacro
@@ -15,23 +15,23 @@
         </transmission>
 
         <gazebo>
-            <plugin filename="libroboticsgroup_gazebo_mimic_joint_plugin.so" name="mimic_gen3_lite_2f_1">
+            <plugin filename="libroboticsgroup_upatras_gazebo_mimic_joint_plugin.so" name="mimic_gen3_lite_2f_1">
                 <joint>${prefix}right_finger_bottom_joint</joint>
                 <mimicJoint>${prefix}right_finger_tip_joint</mimicJoint>
                 <multiplier>-0.676</multiplier>
                 <offset>0.149</offset>
                 <maxEffort>5.0</maxEffort>
                 <hasPID></hasPID>
             </plugin>
-            <plugin filename="libroboticsgroup_gazebo_mimic_joint_plugin.so" name="mimic_gen3_lite_2f_2">
+            <plugin filename="libroboticsgroup_upatras_gazebo_mimic_joint_plugin.so" name="mimic_gen3_lite_2f_2">
                 <joint>${prefix}right_finger_bottom_joint</joint>
                 <mimicJoint>${prefix}left_finger_bottom_joint</mimicJoint>
                 <multiplier>-1.0</multiplier>
                 <offset>0.0</offset>
                 <maxEffort>5.0</maxEffort>
                 <hasPID></hasPID>
             </plugin>
-            <plugin filename="libroboticsgroup_gazebo_mimic_joint_plugin.so" name="mimic_gen3_lite_2f_3">
+            <plugin filename="libroboticsgroup_upatras_gazebo_mimic_joint_plugin.so" name="mimic_gen3_lite_2f_3">
                 <joint>${prefix}right_finger_bottom_joint</joint>
                 <mimicJoint>${prefix}left_finger_tip_joint</mimicJoint>
                 <multiplier>-0.676</multiplier>

diff --git a/kortex_description/grippers/robotiq_2f_140/urdf/robotiq_2f_140_transmission_macro.xacro b/kortex_description/grippers/robotiq_2f_140/urdf/robotiq_2f_140_transmission_macro.xacro
@@ -15,39 +15,39 @@
         </transmission>
 
         <gazebo>
-            <plugin filename="libroboticsgroup_gazebo_mimic_joint_plugin.so" name="mimic_robotiq_140_1">
+            <plugin filename="libroboticsgroup_upatras_gazebo_mimic_joint_plugin.so" name="mimic_robotiq_140_1">
                 <joint>${prefix}finger_joint</joint>
                 <mimicJoint>${prefix}right_outer_knuckle_joint</mimicJoint>
                 <multiplier>-1.0</multiplier>
                 <offset>0.0</offset>
                 <maxEffort>5.0</maxEffort>
                 <hasPID/>
             </plugin>
-            <plugin filename="libroboticsgroup_gazebo_mimic_joint_plugin.so" name="mimic_robotiq_140_2">
+            <plugin filename="libroboticsgroup_upatras_gazebo_mimic_joint_plugin.so" name="mimic_robotiq_140_2">
                 <joint>${prefix}finger_joint</joint>
                 <mimicJoint>${prefix}right_inner_knuckle_joint</mimicJoint>
                 <multiplier>-1.0</multiplier>
                 <offset>0.0</offset>
                 <maxEffort>5.0</maxEffort>
                 <hasPID/>
             </plugin>
-            <plugin filename="libroboticsgroup_gazebo_mimic_joint_plugin.so" name="mimic_robotiq_140_3">
+            <plugin filename="libroboticsgroup_upatras_gazebo_mimic_joint_plugin.so" name="mimic_robotiq_140_3">
                 <joint>${prefix}finger_joint</joint>
                 <mimicJoint>${prefix}left_inner_knuckle_joint</mimicJoint>
                 <multiplier>-1.0</multiplier>
                 <offset>0.0</offset>
                 <maxEffort>5.0</maxEffort>
                 <hasPID/>
             </plugin>
-            <plugin filename="libroboticsgroup_gazebo_mimic_joint_plugin.so" name="mimic_robotiq_140_4">
+            <plugin filename="libroboticsgroup_upatras_gazebo_mimic_joint_plugin.so" name="mimic_robotiq_140_4">
                 <joint>${prefix}finger_joint</joint>
                 <mimicJoint>${prefix}left_inner_finger_joint</mimicJoint>
                 <multiplier>1.0</multiplier>
                 <offset>0.0</offset>
                 <maxEffort>5.0</maxEffort>
                 <hasPID/>
             </plugin>
-            <plugin filename="libroboticsgroup_gazebo_mimic_joint_plugin.so" name="mimic_robotiq_140_5">
+            <plugin filename="libroboticsgroup_upatras_gazebo_mimic_joint_plugin.so" name="mimic_robotiq_140_5">
                 <joint>${prefix}finger_joint</joint>
                 <mimicJoint>${prefix}right_inner_finger_joint</mimicJoint>
                 <multiplier>1.0</multiplier>

diff --git a/kortex_description/grippers/robotiq_2f_85/urdf/robotiq_2f_85_transmission_macro.xacro b/kortex_description/grippers/robotiq_2f_85/urdf/robotiq_2f_85_transmission_macro.xacro
@@ -15,39 +15,39 @@
         </transmission>
 
         <gazebo>
-            <plugin filename="libroboticsgroup_gazebo_mimic_joint_plugin.so" name="mimic_robotiq_85_1">
+            <plugin filename="libroboticsgroup_upatras_gazebo_mimic_joint_plugin.so" name="mimic_robotiq_85_1">
                 <joint>${prefix}finger_joint</joint>
                 <mimicJoint>${prefix}right_outer_knuckle_joint</mimicJoint>
                 <multiplier>1.0</multiplier>
                 <offset>0.0</offset>
                 <maxEffort>5.0</maxEffort>
                 <hasPID/>
             </plugin>
-            <plugin filename="libroboticsgroup_gazebo_mimic_joint_plugin.so" name="mimic_robotiq_85_2">
+            <plugin filename="libroboticsgroup_upatras_gazebo_mimic_joint_plugin.so" name="mimic_robotiq_85_2">
                 <joint>${prefix}finger_joint</joint>
                 <mimicJoint>${prefix}right_inner_knuckle_joint</mimicJoint>
                 <multiplier>1.0</multiplier>
                 <offset>0.0</offset>
                 <maxEffort>5.0</maxEffort>
                 <hasPID/>
             </plugin>
-            <plugin filename="libroboticsgroup_gazebo_mimic_joint_plugin.so" name="mimic_robotiq_85_3">
+            <plugin filename="libroboticsgroup_upatras_gazebo_mimic_joint_plugin.so" name="mimic_robotiq_85_3">
                 <joint>${prefix}finger_joint</joint>
                 <mimicJoint>${prefix}left_inner_knuckle_joint</mimicJoint>
                 <multiplier>1.0</multiplier>
                 <offset>0.0</offset>
                 <maxEffort>5.0</maxEffort>
                 <hasPID/>
             </plugin>
-            <plugin filename="libroboticsgroup_gazebo_mimic_joint_plugin.so" name="mimic_robotiq_85_4">
+            <plugin filename="libroboticsgroup_upatras_gazebo_mimic_joint_plugin.so" name="mimic_robotiq_85_4">
                 <joint>${prefix}finger_joint</joint>
                 <mimicJoint>${prefix}left_inner_finger_joint</mimicJoint>
                 <multiplier>-1.0</multiplier>
                 <offset>0.0</offset>
                 <maxEffort>5.0</maxEffort>
                 <hasPID/>
             </plugin>
-            <plugin filename="libroboticsgroup_gazebo_mimic_joint_plugin.so" name="mimic_robotiq_85_5">
+            <plugin filename="libroboticsgroup_upatras_gazebo_mimic_joint_plugin.so" name="mimic_robotiq_85_5">
                 <joint>${prefix}finger_joint</joint>
                 <mimicJoint>${prefix}right_inner_finger_joint</mimicJoint>
                 <multiplier>-1.0</multiplier>

diff --git a/kortex_description/launch/visualize.launch b/kortex_description/launch/visualize.launch
@@ -21,9 +21,8 @@
         unless="$(eval not arg('gripper'))"/>
 
     <!-- Joint state publisher and robot state publisher -->
-    <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
+    <node name="joint_state_publisher_gui" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui">
         <rosparam param="source_list">[base_feedback/joint_state]</rosparam>
-        <param name="use_gui" value="true"/>
         <param name="rate" value="30" />
     </node>
     <node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher" />

diff --git a/kortex_description/package.xml b/kortex_description/package.xml
@@ -14,6 +14,7 @@ for Kortex arms and supported grippers</p>
   <run_depend>robot_state_publisher</run_depend>
   <run_depend>rviz</run_depend>
   <run_depend>joint_state_publisher</run_depend>
+  <run_depend>joint_state_publisher_gui</run_depend>
   <run_depend>gazebo</run_depend>
   <run_depend>xacro</run_depend>
   <export>

diff --git a/kortex_description/readme.md b/kortex_description/readme.md
@@ -18,7 +18,7 @@ This package contains the URDF (Unified Robot Description Format), STL and confi
 To load the description of a robot, you simply have to load the **ARM.xacro** or the **ARM_GRIPPER.xacro** file, with **ARM** being your arm's name (gen3, gen3_lite), and if you have a gripper, **GRIPPER** being your gripper's name (robotiq_2f_85, gen3_lite_2f).
 
 **Arguments**:
-- **sim** : If this argument is true, the Gazebo-specific files will be loaded. The default value is **false **.
+- **sim** : If this argument is true, the Gazebo-specific files will be loaded. The default value is **false**.
 
 For example:
 

diff --git a/kortex_driver/CMakeLists.txt b/kortex_driver/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 2.8.3)
+cmake_minimum_required(VERSION 3.0.2)
 project(kortex_driver)
 
 add_compile_options(-std=c++11)

diff --git a/kortex_driver/launch/kortex_driver.launch b/kortex_driver/launch/kortex_driver.launch
@@ -101,7 +101,6 @@
         <!-- Start joint and robot state publisher -->
         <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
             <rosparam param="source_list">[base_feedback/joint_state]</rosparam>
-            <param name="use_gui" value="false"/>
             <param name="rate" value="$(arg cyclic_data_publish_rate)" />
         </node>
         <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />

diff --git a/kortex_driver/launch/kortex_dual_driver.launch b/kortex_driver/launch/kortex_dual_driver.launch
@@ -122,7 +122,6 @@
         <rosparam param="source_list" subst_value="true">
             [$(arg left_robot_name)/base_feedback/joint_state, $(arg right_robot_name)/base_feedback/joint_state]
         </rosparam>
-        <param name="use_gui" value="false"/>
     </node>
     <node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher"/>
 

diff --git a/kortex_driver/readme.md b/kortex_driver/readme.md
@@ -40,7 +40,12 @@ The source code is released under a [BSD 3-Clause license](../LICENSE).
 Affiliation: [Kinova inc.](https://www.kinovarobotics.com/)<br />
 Maintainer: Kinova inc. [email protected]**
 
-This package has been tested under ROS Kinetic (Ubuntu 16.04) and ROS Melodic (Ubuntu 18.04).
+This package has been tested under ROS Noetic (Ubuntu 20.04).
+
+For older ROS versions, checkout on corresponding branch : 
+
+- [melodic-devel](https://github.com/Kinovarobotics/ros_kortex/tree/melodic-devel) for ROS Melodic and Ubuntu 18.04 support. 
+- [kinetic-devel](https://github.com/Kinovarobotics/ros_kortex/tree/kinetic-devel) for ROS Kinetic and Ubuntu 16.04 support, but the branch is no longer maintained (the melodic-devel branch might work for this configuration).
 
 <a id="usage"></a>
 ## Usage
@@ -58,7 +63,7 @@ The `kortex_driver` node is the node responsible for the communication between t
 - **username** : The username for the robot connection. The default value is **admin**.
 - **password** : The password for the robot connection. The default value is **admin**.
 - **use_hard_limits** : [**Gen3 only**] If set to **true**, the arm's soft speed and acceleration limits are set to the hard limits and the MoveIt configuration uses those limits for the trajectories. If **false**, the default soft limit values are used. The default value for the parameter is **false**. **Be aware that setting this argument to true will set you arm's speed and acceleration limits to the maximum, so it will move way faster! Be cautious when using it for the first time as it may cause unwanted behaviour.**
-- **cyclic_data_publish_rate** : Publish rate of the *base_feedback* and *joint_state* topics, in Hz. The default value is **100** Hz.
+- **cyclic_data_publish_rate** : Publish rate of the *base_feedback* and *joint_state* topics, in Hz. The default value is **40** Hz.
 - **api_rpc_timeout_ms** : The default X-axis position of the robot in Gazebo. The default value is **0.0**.
 - **api_session_inactivity_timeout_ms** : The duration after which the robot will clean the client session if the client hangs up the connection brutally (should not happen with the ROS driver). The default value is **35000** ms and is not normally changed.
 - **api_connection_inactivity_timeout_ms** : The duration after which a connection is destroyed by the robot if no communication is detected between the client and the robot. The default value is **20000** ms and is not normally changed.

diff --git a/kortex_examples/CMakeLists.txt b/kortex_examples/CMakeLists.txt
@@ -1,5 +1,5 @@
 
-cmake_minimum_required(VERSION 2.8.3)
+cmake_minimum_required(VERSION 3.0.2)
 project(kortex_examples)
 
 add_compile_options(-std=c++11)

diff --git a/kortex_examples/setup.py b/kortex_examples/setup.py
@@ -1,4 +1,4 @@
-from distutils.core import setup
+from setuptools import setup
 from catkin_pkg.python_setup import generate_distutils_setup
 
 setup(**generate_distutils_setup(

diff --git a/kortex_examples/src/actuator_config/example_actuator_configuration.py b/kortex_examples/src/actuator_config/example_actuator_configuration.py
@@ -1,4 +1,4 @@
-#!/usr/bin/env python
+#!/usr/bin/env python3
 ###
 # KINOVA (R) KORTEX (TM)
 #

diff --git a/kortex_examples/src/full_arm/example_cartesian_poses_with_notifications.py b/kortex_examples/src/full_arm/example_cartesian_poses_with_notifications.py
@@ -1,4 +1,4 @@
-#!/usr/bin/env python
+#!/usr/bin/env python3
 ###
 # KINOVA (R) KORTEX (TM)
 #

diff --git a/kortex_examples/src/full_arm/example_full_arm_movement.py b/kortex_examples/src/full_arm/example_full_arm_movement.py
@@ -1,4 +1,4 @@
-#!/usr/bin/env python
+#!/usr/bin/env python3
 ###
 # KINOVA (R) KORTEX (TM)
 #

diff --git a/kortex_examples/src/full_arm/example_waypoint_action_client.py b/kortex_examples/src/full_arm/example_waypoint_action_client.py
@@ -1,4 +1,4 @@
-#!/usr/bin/env python
+#!/usr/bin/env python3
 ###
 # KINOVA (R) KORTEX (TM)
 #

diff --git a/kortex_examples/src/move_it/example_move_it_trajectories.py b/kortex_examples/src/move_it/example_move_it_trajectories.py
@@ -1,4 +1,4 @@
-#!/usr/bin/env python
+#!/usr/bin/env python3
 
 # Software License Agreement (BSD License)
 #
@@ -64,7 +64,7 @@ def __init__(self):
         gripper_joint_names = rospy.get_param(rospy.get_namespace() + "gripper_joint_names", [])
         self.gripper_joint_name = gripper_joint_names[0]
       else:
-        gripper_joint_name = ""
+        self.gripper_joint_name = ""
       self.degrees_of_freedom = rospy.get_param(rospy.get_namespace() + "degrees_of_freedom", 7)
 
       # Create the MoveItInterface necessary objects
@@ -96,9 +96,9 @@ def reach_named_position(self, target):
     # Set the target
     arm_group.set_named_target(target)
     # Plan the trajectory
-    planned_path1 = arm_group.plan()
+    (success_flag, trajectory_message, planning_time, error_code) = arm_group.plan()
     # Execute the trajectory and block while it's not finished
-    return arm_group.execute(planned_path1, wait=True)
+    return arm_group.execute(trajectory_message, wait=True)
 
   def reach_joint_angles(self, tolerance):
     arm_group = self.arm_group

diff --git a/kortex_examples/src/move_it/simulation_pid_tuning.py b/kortex_examples/src/move_it/simulation_pid_tuning.py
@@ -1,4 +1,4 @@
-#!/usr/bin/env python
+#!/usr/bin/env python3
 
 # Software License Agreement (BSD License)
 #

diff --git a/kortex_examples/src/vision_config/example_vision_configuration.py b/kortex_examples/src/vision_config/example_vision_configuration.py
@@ -1,4 +1,4 @@
-#!/usr/bin/env python
+#!/usr/bin/env python3
 ###
 # KINOVA (R) KORTEX (TM)
 #

diff --git a/kortex_gazebo/CMakeLists.txt b/kortex_gazebo/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 2.8.3)
+cmake_minimum_required(VERSION 3.0.2)
 
 project(kortex_gazebo)
 

diff --git a/kortex_gazebo/readme.md b/kortex_gazebo/readme.md
@@ -23,7 +23,12 @@ The source code is released under a [BSD 3-Clause license](../LICENSE).
 Affiliation: [Kinova inc.](https://www.kinovarobotics.com/)<br />
 Maintainer: Kinova inc. [email protected]**
 
-This package has been tested under ROS Kinetic, Gazebo 7 and Ubuntu 16.04 and under ROS Melodic, Gazebo 9 and Ubuntu 18.04.
+This package has been tested under ROS Noetic with Gazebo 11.
+
+For older versions, checkout on corresponding branch : 
+
+- [melodic-devel](https://github.com/Kinovarobotics/ros_kortex/tree/melodic-devel) for ROS Melodic and Gazebo 9. 
+- [kinetic-devel](https://github.com/Kinovarobotics/ros_kortex/tree/kinetic-devel) for ROS Kinetic and Gazebo 7 (the melodic-devel branch might work for this configuration).
 
 ## A word on stability of the models
 

diff --git a/kortex_gazebo/scripts/home_robot.py b/kortex_gazebo/scripts/home_robot.py
@@ -1,4 +1,4 @@
-#!/usr/bin/env python
+#!/usr/bin/env python3
 
 import sys
 import time

diff --git a/kortex_move_it_config/gen3_lite_gen3_lite_2f_move_it_config/CMakeLists.txt b/kortex_move_it_config/gen3_lite_gen3_lite_2f_move_it_config/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 2.8.3)
+cmake_minimum_required(VERSION 3.0.2)
 project(gen3_lite_gen3_lite_2f_move_it_config)
 
 find_package(catkin REQUIRED)

diff --git a/kortex_move_it_config/gen3_lite_gen3_lite_2f_move_it_config/config/default_joint_limits.yaml b/kortex_move_it_config/gen3_lite_gen3_lite_2f_move_it_config/config/default_joint_limits.yaml
@@ -1,3 +1,8 @@
+# Change robot speed to 100% by default
+# changes following this PR : https://github.com/ros-planning/moveit/pull/1890 
+default_velocity_scaling_factor: 1
+default_acceleration_scaling_factor: 1
+
 # joint_limits.yaml allows the dynamics properties specified in the URDF to be overwritten or augmented as needed
 # Specific joint properties can be changed with the keys [max_position, min_position, max_velocity, max_acceleration]
 # Joint limits can be turned off with [has_velocity_limits, has_acceleration_limits]

diff --git a/kortex_move_it_config/gen3_lite_gen3_lite_2f_move_it_config/config/hard_joint_limits.yaml b/kortex_move_it_config/gen3_lite_gen3_lite_2f_move_it_config/config/hard_joint_limits.yaml
@@ -1,3 +1,8 @@
+# Change robot speed to 100% by default
+# changes following this PR : https://github.com/ros-planning/moveit/pull/1890 
+default_velocity_scaling_factor: 1
+default_acceleration_scaling_factor: 1
+
 # joint_limits.yaml allows the dynamics properties specified in the URDF to be overwritten or augmented as needed
 # Specific joint properties can be changed with the keys [max_position, min_position, max_velocity, max_acceleration]
 # Joint limits can be turned off with [has_velocity_limits, has_acceleration_limits]

diff --git a/kortex_move_it_config/gen3_lite_gen3_lite_2f_move_it_config/launch/demo.launch b/kortex_move_it_config/gen3_lite_gen3_lite_2f_move_it_config/launch/demo.launch
@@ -27,10 +27,16 @@
 
 
   <!-- We do not have a robot connected, so publish fake joint states -->
-  <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
-    <param name="use_gui" value="$(arg use_gui)"/>
-    <rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam>
-  </node>
+  <group if="$(arg use_gui)">
+    <node name="joint_state_publisher_gui" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui">
+      <rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam>
+    </node>
+  </group>
+  <group unless="$(arg use_gui)">
+    <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" >
+      <rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam>
+    </node>
+  </group>
 
   <!-- Given the published joint states, publish tf for the robot links -->
   <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="true" output="screen" />

diff --git a/kortex_move_it_config/gen3_lite_gen3_lite_2f_move_it_config/package.xml b/kortex_move_it_config/gen3_lite_gen3_lite_2f_move_it_config/package.xml
@@ -23,6 +23,7 @@
   <run_depend>moveit_ros_visualization</run_depend>
   <run_depend>moveit_setup_assistant</run_depend>
   <run_depend>joint_state_publisher</run_depend>
+  <run_depend>joint_state_publisher_gui</run_depend>
   <run_depend>robot_state_publisher</run_depend>
   <run_depend>xacro</run_depend>
   <!-- This package is referenced in the warehouse launch files, but does not build out of the box at the moment. Commented the dependency until this works. -->

diff --git a/kortex_move_it_config/gen3_move_it_config/CMakeLists.txt b/kortex_move_it_config/gen3_move_it_config/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 2.8.3)
+cmake_minimum_required(VERSION 3.0.2)
 project(gen3_move_it_config)
 
 find_package(catkin REQUIRED)

diff --git a/kortex_move_it_config/gen3_move_it_config/config/6dof/default_joint_limits.yaml b/kortex_move_it_config/gen3_move_it_config/config/6dof/default_joint_limits.yaml
@@ -1,3 +1,8 @@
+# Change robot speed to 100% by default
+# changes following this PR : https://github.com/ros-planning/moveit/pull/1890 
+default_velocity_scaling_factor: 1
+default_acceleration_scaling_factor: 1
+
 # joint_limits.yaml allows the dynamics properties specified in the URDF to be overwritten or augmented as needed
 # Specific joint properties can be changed with the keys [max_position, min_position, max_velocity, max_acceleration]
 # Joint limits can be turned off with [has_velocity_limits, has_acceleration_limits]

diff --git a/kortex_move_it_config/gen3_move_it_config/config/6dof/hard_joint_limits.yaml b/kortex_move_it_config/gen3_move_it_config/config/6dof/hard_joint_limits.yaml
@@ -1,3 +1,8 @@
+# Change robot speed to 100% by default
+# changes following this PR : https://github.com/ros-planning/moveit/pull/1890 
+default_velocity_scaling_factor: 1
+default_acceleration_scaling_factor: 1
+
 # joint_limits.yaml allows the dynamics properties specified in the URDF to be overwritten or augmented as needed
 # Specific joint properties can be changed with the keys [max_position, min_position, max_velocity, max_acceleration]
 # Joint limits can be turned off with [has_velocity_limits, has_acceleration_limits]

diff --git a/kortex_move_it_config/gen3_move_it_config/config/7dof/default_joint_limits.yaml b/kortex_move_it_config/gen3_move_it_config/config/7dof/default_joint_limits.yaml
@@ -1,3 +1,8 @@
+# Change robot speed to 100% by default
+# changes following this PR : https://github.com/ros-planning/moveit/pull/1890 
+default_velocity_scaling_factor: 1
+default_acceleration_scaling_factor: 1
+
 # joint_limits.yaml allows the dynamics properties specified in the URDF to be overwritten or augmented as needed
 # Specific joint properties can be changed with the keys [max_position, min_position, max_velocity, max_acceleration]
 # Joint limits can be turned off with [has_velocity_limits, has_acceleration_limits]