Merge pull request #193 in SWDEV/franka_ros from fix/gazebo-torque-th…

…resholds-parameter to develop * commit '2a14287d579571060d343ec76ea51d214a28ac62': FIX: Read force threshold from correct parameter
frankaemika · Jun 14, 2022 · ce87eb1 · ce87eb1
2 parents 442867c + 2a14287
commit ce87eb1
Showing 1 changed file with 2 additions and 2 deletions.
diff --git a/franka_gazebo/src/franka_hw_sim.cpp b/franka_gazebo/src/franka_hw_sim.cpp
@@ -464,9 +464,9 @@ bool FrankaHWSim::readParameters(const ros::NodeHandle& nh, const urdf::Model& u
         "upper_torque_thresholds_nominal", nh, {20.0, 20.0, 18.0, 18.0, 16.0, 14.0, 12.0});
 
     this->lower_force_thresholds_nominal_ = franka_hw::FrankaHW::getCollisionThresholds(
-        "lower_torque_thresholds_nominal", nh, {20.0, 20.0, 18.0, 18.0, 16.0, 14.0, 12.0});
+        "lower_force_thresholds_nominal", nh, {20.0, 20.0, 20.0, 25.0, 25.0, 25.0});
     this->upper_force_thresholds_nominal_ = franka_hw::FrankaHW::getCollisionThresholds(
-        "upper_torque_thresholds_nominal", nh, {20.0, 20.0, 20.0, 25.0, 25.0, 25.0});
+        "upper_force_thresholds_nominal", nh, {20.0, 20.0, 20.0, 25.0, 25.0, 25.0});
 
     for (int i = 0; i < 7; i++) {
       std::string name = this->arm_id_ + "_joint" + std::to_string(i + 1);