fix: reduce update rate

maffettone · Oct 30, 2024 · 8ae70d3 · 8ae70d3
1 parent d3ac840
commit 8ae70d3
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Showing 3 changed files with 40 additions and 12 deletions.
diff --git a/src/pdf_beamtime/src/beamtime_entrypoint.cpp b/src/pdf_beamtime/src/beamtime_entrypoint.cpp
@@ -37,6 +37,20 @@ int main(int argc, char * argv[])
     {"robot_description", parameters[1].value_to_string()}
   });
 
+  // Lower the update rate to the controller
+  auto controller_manager_parameters_client =
+    std::make_shared<rclcpp::SyncParametersClient>(parameter_client_node, "controller_manager");
+  // Boiler plate wait block
+  while (!controller_manager_parameters_client->wait_for_service(1s)) {
+    if (!rclcpp::ok()) {
+      RCLCPP_ERROR(
+        logger, "Interrupted while waiting for the service. Exiting.");
+      return 0;
+    }
+    RCLCPP_INFO(logger, "controller_manager service not available, waiting again...");
+  }
+  controller_manager_parameters_client->set_parameters({rclcpp::Parameter("update_rate", 100)});
+
   rclcpp::executors::MultiThreadedExecutor executor;
 
   auto beamtime_server = std::make_shared<PdfBeamtimeServer>(

diff --git a/src/pdf_beamtime/src/beamtime_fidpose_entrypoint.cpp b/src/pdf_beamtime/src/beamtime_fidpose_entrypoint.cpp
@@ -37,6 +37,20 @@ int main(int argc, char * argv[])
     {"robot_description", parameters[1].value_to_string()}
   });
 
+  // Lower the update rate to the controller
+  auto controller_manager_parameters_client =
+    std::make_shared<rclcpp::SyncParametersClient>(parameter_client_node, "controller_manager");
+  // Boiler plate wait block
+  while (!controller_manager_parameters_client->wait_for_service(1s)) {
+    if (!rclcpp::ok()) {
+      RCLCPP_ERROR(
+        logger, "Interrupted while waiting for the service. Exiting.");
+      return 0;
+    }
+    RCLCPP_INFO(logger, "controller_manager service not available, waiting again...");
+  }
+  controller_manager_parameters_client->set_parameters({rclcpp::Parameter("update_rate", 100)});
+
   rclcpp::executors::MultiThreadedExecutor executor;
 
   auto beamtime_server = std::make_shared<PdfBeamtimeFidPoseServer>(

diff --git a/src/ur3e_hande_moveit_config/config/joint_limits.yaml b/src/ur3e_hande_moveit_config/config/joint_limits.yaml
@@ -6,20 +6,20 @@
 
 joint_limits:
   shoulder_pan_joint:
-    has_acceleration_limits: true
-    max_acceleration: 1.0
+    has_velocity_limits: true
+    max_velocity: 1.0
   shoulder_lift_joint:
-    has_acceleration_limits: true
-    max_acceleration: 1.0
+    has_velocity_limits: true
+    max_velocity: 1.0
   elbow_joint:
-    has_acceleration_limits: true
-    max_acceleration: 1.0
+    has_velocity_limits: true
+    max_velocity: 1.0
   wrist_1_joint:
-    has_acceleration_limits: true
-    max_acceleration: 1.0
+    has_velocity_limits: true
+    max_velocity: 1.0
   wrist_2_joint:
-    has_acceleration_limits: true
-    max_acceleration: 1.0
+    has_velocity_limits: true
+    max_velocity: 1.0
   wrist_3_joint:
-    has_acceleration_limits: true
-    max_acceleration: 1.0
+    has_velocity_limits: true
+    max_velocity: 1.0