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wiki:tutorials:single-arm-cartesian-move [2018/05/01 20:42]
kevin [The Code]
wiki:tutorials:single-arm-cartesian-move [2018/05/01 20:42] (current)
kevin [The Code Explained]
Line 65: Line 65:
   controller.p_gain = 1;   controller.p_gain = 1;
   controller.weight = 1;   controller.weight = 1;
-  controller.enable_error_threshold = false;+  controller.enable_error_threshold = true;
   controller.threshold_value = 0.1;   controller.threshold_value = 0.1;
   controller.goal_pose.header.frame_id = "​base_link";​   controller.goal_pose.header.frame_id = "​base_link";​