message: adapted goal tolerances in trajectory controllers
diff: @@ -9,7 +9,21 @@ position_joint_trajectory_controller:
  - franka_emika_joint6
  - franka_emika_joint7
  constraints:
  - goal_time: 0.01
  + goal_time: 0.5
  + franka_emika_joint1:
  + goal: 0.05
  + franka_emika_joint2:
  + goal: 0.05
  + franka_emika_joint3:
  + goal: 0.05
  + franka_emika_joint4:
  + goal: 0.05
  + franka_emika_joint5:
  + goal: 0.05
  + franka_emika_joint6:
  + goal: 0.05
  + franka_emika_joint7:
  + goal: 0.05
  effort_joint_trajectory_controller:
  type: "effort_controllers/JointTrajectoryController"
  @@ -22,7 +36,21 @@ effort_joint_trajectory_controller:
  - franka_emika_joint6
  - franka_emika_joint7
  constraints:
  - goal_time: 0.01
  + goal_time: 0.5
  + franka_emika_joint1:
  + goal: 0.05
  + franka_emika_joint2:
  + goal: 0.05
  + franka_emika_joint3:
  + goal: 0.05
  + franka_emika_joint4:
  + goal: 0.05
  + franka_emika_joint5:
  + goal: 0.05
  + franka_emika_joint6:
  + goal: 0.05
  + franka_emika_joint7:
  + goal: 0.05
  gains:
  franka_emika_joint1: {p: 100, d: 10, i: 0, i_clamp: 1}
  franka_emika_joint2: {p: 100, d: 10, i: 0, i_clamp: 1}
  