fix(moveit): enable joint acceleration limits (salvage #89) - #96
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Salvage of enactic#89 by @leochien1110 on current main after joint_limits.yaml split into openarm_v1.0/ and openarm_v2.0/. Set has_acceleration_limits: true and max_acceleration: 5.0 for all listed joints in both configs so MoveIt time-parameterization / Plan to unit pose can succeed under use_fake_hardware demos (previously false + 0.0 accel often failed Plan/Plan & Execute). Credit: original diagnosis and values from PR enactic#89. Not hardware-qualified; fake/demo workflow focus. Reviewers may tune the 5.0 rad/s² cap.
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Summary
Salvage of #89 by @leochien1110, rebased onto current main after
joint_limits.yamlwas split into versioned paths:openarm_bimanual_moveit_config/config/openarm_v1.0/joint_limits.yamlopenarm_bimanual_moveit_config/config/openarm_v2.0/joint_limits.yamlOriginal PR still targets a removed top-level
config/joint_limits.yaml.Change
For every joint in both versioned files:
has_acceleration_limits: truemax_acceleration: 5.0(same values as Fix MoveIt planning by defining joint acceleration limits #89)This lets MoveIt Plan / Plan & Execute work in
use_fake_hardware:=truedemos where accel limits were false/0.0.Credit
Diagnosis + value choice: @leochien1110 in #89. This PR Reserved only as rebase/port + dual-version apply.
Scope / risk
Test plan
ros2 launch openarm_bimanual_moveit_config demo.launch.py use_fake_hardware:=truePlan succeeds (if env available)