change default arm speed to 100% in moveit

Kinovarobotics · Jul 5, 2021 · db7a30a · db7a30a
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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_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]

diff --git a/kortex_move_it_config/gen3_move_it_config/config/7dof/hard_joint_limits.yaml b/kortex_move_it_config/gen3_move_it_config/config/7dof/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/...x_move_it_config/gen3_robotiq_2f_140_move_it_config/config/6dof/default_joint_limits.yaml b/...x_move_it_config/gen3_robotiq_2f_140_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_robotiq_2f_140_move_it_config/config/6dof/hard_joint_limits.yaml b/kortex_move_it_config/gen3_robotiq_2f_140_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/...x_move_it_config/gen3_robotiq_2f_140_move_it_config/config/7dof/default_joint_limits.yaml b/...x_move_it_config/gen3_robotiq_2f_140_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]

diff --git a/kortex_move_it_config/gen3_robotiq_2f_140_move_it_config/config/7dof/hard_joint_limits.yaml b/kortex_move_it_config/gen3_robotiq_2f_140_move_it_config/config/7dof/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/...ex_move_it_config/gen3_robotiq_2f_85_move_it_config/config/6dof/default_joint_limits.yaml b/...ex_move_it_config/gen3_robotiq_2f_85_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_robotiq_2f_85_move_it_config/config/6dof/hard_joint_limits.yaml b/kortex_move_it_config/gen3_robotiq_2f_85_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/...ex_move_it_config/gen3_robotiq_2f_85_move_it_config/config/7dof/default_joint_limits.yaml b/...ex_move_it_config/gen3_robotiq_2f_85_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]

diff --git a/kortex_move_it_config/gen3_robotiq_2f_85_move_it_config/config/7dof/hard_joint_limits.yaml b/kortex_move_it_config/gen3_robotiq_2f_85_move_it_config/config/7dof/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]