Commit 904c7d75 authored by Joseph Mirabel's avatar Joseph Mirabel Committed by olivier stasse

Update frequency to 100Hz (according to documentation and experiments).

parent 526fee68
......@@ -32,5 +32,5 @@ sot_controller:
ros_control_mode: POSITION
head_2_joint:
ros_control_mode: POSITION
dt: 0.001
jitter: 0.0004
dt: 0.01
jitter: 0.004
......@@ -8,5 +8,5 @@ sot_controller:
joint-angles: joint-angles, velocities: velocities, forces: forces, currents: currents,
torques: torques, cmd-joints: control, cmd-effort: control, accelerometer_0: accelerometer_0, gyrometer_0: gyrometer_0 }
control_mode: EFFORT
dt: 0.001
jitter: 0.0004
dt: 0.01
jitter: 0.004
......@@ -33,5 +33,5 @@ sot_controller:
ros_control_mode: POSITION
head_2_joint:
ros_control_mode: POSITION
dt: 0.001
jitter: 0.0004
dt: 0.01
jitter: 0.004
......@@ -9,4 +9,4 @@ sot_controller:
joint-angles: joint-angles, velocities: velocities, forces: forces, currents: currents,
torques: torques, cmd-joints: control, cmd-effort: control, accelerometer_0: accelerometer_0, gyrometer_0: gyrometer_0 }
control_mode: EFFORT
dt: 0.001
dt: 0.01
......@@ -38,5 +38,5 @@ sot_controller:
ros_control_mode: POSITION
head_2_joint:
ros_control_mode: POSITION
dt: 0.001
jitter: 0.0004
dt: 0.01
jitter: 0.004
......@@ -37,5 +37,5 @@ sot_controller:
ros_control_mode: POSITION
head_2_joint:
ros_control_mode: POSITION
dt: 0.001
jitter: 0.0004
dt: 0.01
jitter: 0.004
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