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Commit 904c7d75 authored by Joseph Mirabel's avatar Joseph Mirabel Committed by olivier stasse
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Update frequency to 100Hz (according to documentation and experiments).

parent 526fee68
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roscontrol_sot_tiago/config/sot_tiago_params.yaml
View file @ 904c7d75
...@@ -32,5 +32,5 @@ sot_controller: ...@@ -32,5 +32,5 @@ sot_controller:
ros_control_mode: POSITION ros_control_mode: POSITION
head_2_joint: head_2_joint:
ros_control_mode: POSITION ros_control_mode: POSITION
dt: 0.001 dt: 0.01
jitter: 0.0004 jitter: 0.004
roscontrol_sot_tiago/config/sot_tiago_params_effort.yaml
View file @ 904c7d75
...@@ -8,5 +8,5 @@ sot_controller: ...@@ -8,5 +8,5 @@ sot_controller:
joint-angles: joint-angles, velocities: velocities, forces: forces, currents: currents, 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 } torques: torques, cmd-joints: control, cmd-effort: control, accelerometer_0: accelerometer_0, gyrometer_0: gyrometer_0 }
control_mode: EFFORT control_mode: EFFORT
dt: 0.001 dt: 0.01
jitter: 0.0004 jitter: 0.004
roscontrol_sot_tiago/config/sot_tiago_params_gazebo.yaml
View file @ 904c7d75
...@@ -33,5 +33,5 @@ sot_controller: ...@@ -33,5 +33,5 @@ sot_controller:
ros_control_mode: POSITION ros_control_mode: POSITION
head_2_joint: head_2_joint:
ros_control_mode: POSITION ros_control_mode: POSITION
dt: 0.001 dt: 0.01
jitter: 0.0004 jitter: 0.004
roscontrol_sot_tiago/config/sot_tiago_params_gazebo_effort.yaml
View file @ 904c7d75
...@@ -9,4 +9,4 @@ sot_controller: ...@@ -9,4 +9,4 @@ sot_controller:
joint-angles: joint-angles, velocities: velocities, forces: forces, currents: currents, 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 } torques: torques, cmd-joints: control, cmd-effort: control, accelerometer_0: accelerometer_0, gyrometer_0: gyrometer_0 }
control_mode: EFFORT control_mode: EFFORT
dt: 0.001 dt: 0.01
roscontrol_sot_tiago/config/sot_tiago_params_gazebo_with_mobile_base.yaml
View file @ 904c7d75
...@@ -38,5 +38,5 @@ sot_controller: ...@@ -38,5 +38,5 @@ sot_controller:
ros_control_mode: POSITION ros_control_mode: POSITION
head_2_joint: head_2_joint:
ros_control_mode: POSITION ros_control_mode: POSITION
dt: 0.001 dt: 0.01
jitter: 0.0004 jitter: 0.004
roscontrol_sot_tiago/config/sot_tiago_params_with_mobile_base.yaml
View file @ 904c7d75
...@@ -37,5 +37,5 @@ sot_controller: ...@@ -37,5 +37,5 @@ sot_controller:
ros_control_mode: POSITION ros_control_mode: POSITION
head_2_joint: head_2_joint:
ros_control_mode: POSITION ros_control_mode: POSITION
dt: 0.001 dt: 0.01
jitter: 0.0004 jitter: 0.004
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