# Conservative defaults for manual Cartesian control. Tune these three scales
# only after testing in mock hardware and at low teach-pendant speed.
publish_period: 0.01
command_in_type: unitless
scale:
linear: 0.20
rotational: 0.60
joint: 0.20
incoming_command_timeout: 0.10
command_out_type: trajectory_msgs/JointTrajectory
command_out_topic: /scaled_joint_trajectory_controller/joint_trajectory
publish_joint_positions: true
publish_joint_velocities: true
publish_joint_accelerations: false
use_smoothing: true
smoothing_filter_plugin_name: online_signal_smoothing::AccelerationLimitedPlugin
move_group_name: ur_arm
joint_topic: /joint_states
monitored_planning_scene_topic: /planning_scene
is_primary_planning_scene_monitor: true
check_octomap_collisions: false
check_collisions: true
collision_check_rate: 20.0
self_collision_proximity_threshold: 0.02
scene_collision_proximity_threshold: 0.04