servo not working due to an error - moveit thinks the robot is in collision all the time and with twist cmd in addition very close to a singularity

src/ur_robotiq_moveit_config/config/ur_servo.yaml

@@ -7,8 +7,8 @@ use_intra_process_comms : true
 command_in_type: "speed_units" # "unitless"> in the range [-1:1], as if from joystick. "speed_units"> cmds are in m/s and rad/s
 scale:
   # Scale parameters are only used if command_in_type=="unitless"
-  linear:  0.6  # Max linear velocity. Meters per publish_period. Unit is [m/s]. Only used for Cartesian commands.
-  rotational:  0.3 # Max angular velocity. Rads per publish_period. Unit is [rad/s]. Only used for Cartesian commands.
+  linear:  0.05  # Max linear velocity. Meters per publish_period. Unit is [m/s]. Only used for Cartesian commands.
+  rotational:  0.05 # Max angular velocity. Rads per publish_period. Unit is [rad/s]. Only used for Cartesian commands.
   # Max joint angular/linear velocity. Rads or Meters per publish period. Only used for joint commands on joint_command_in_topic.
   joint: 0.01
 # This is a fudge factor to account for any latency in the system, e.g. network latency or poor low-level
@@ -22,11 +22,11 @@ low_latency_mode: false  # Set this to true to publish as soon as an incoming Tw
 
 # What type of topic does your robot driver expect?
 # Currently supported are std_msgs/Float64MultiArray or trajectory_msgs/JointTrajectory
-command_out_type: std_msgs/Float64MultiArray
+command_out_type: trajectory_msgs/JointTrajectory
 
 # What to publish? Can save some bandwidth as most robots only require positions or velocities
 publish_joint_positions: true
-publish_joint_velocities: false
+publish_joint_velocities: true
 publish_joint_accelerations: false
 
 ## Plugins for smoothing outgoing commands
@@ -50,9 +50,9 @@ incoming_command_timeout:  0.1  # Stop servoing if X seconds elapse without a ne
 num_outgoing_halt_msgs_to_publish: 4
 
 ## Configure handling of singularities and joint limits
-lower_singularity_threshold:  100.0  # Start decelerating when the condition number hits this (close to singularity)
-hard_stop_singularity_threshold: 200.0 # Stop when the condition number hits this
-joint_limit_margin: 0.1 # added as a buffer to joint limits [radians]. If moving quickly, make this larger.
+lower_singularity_threshold:  50.0  # Start decelerating when the condition number hits this (close to singularity)
+hard_stop_singularity_threshold: 100.0 # Stop when the condition number hits this
+joint_limit_margin: 0.05 # added as a buffer to joint limits [radians]. If moving quickly, make this larger.
 
 ## Topic names
 cartesian_command_in_topic: ~/delta_twist_cmds  # Topic for incoming Cartesian twist commands
@@ -63,14 +63,14 @@ command_out_topic: /forward_position_controller/commands # Publish outgoing comm
 
 ## Collision checking for the entire robot body
 check_collisions: true # Check collisions?
-collision_check_rate: 5.0 # [Hz] Collision-checking can easily bog down a CPU if done too often.
+collision_check_rate: 10.0 # [Hz] Collision-checking can easily bog down a CPU if done too often.
 # Two collision check algorithms are available:
 # "threshold_distance" begins slowing down when nearer than a specified distance. Good if you want to tune collision thresholds manually.
 # "stop_distance" stops if a collision is nearer than the worst-case stopping distance and the distance is decreasing. Requires joint acceleration limits
 collision_check_type: threshold_distance
 # Parameters for "threshold_distance"-type collision checking
-self_collision_proximity_threshold: 0.01 # Start decelerating when a self-collision is this far [m]
-scene_collision_proximity_threshold: 0.02 # Start decelerating when a scene collision is this far [m]
+self_collision_proximity_threshold: 0.005 # Start decelerating when a self-collision is this far [m]
+scene_collision_proximity_threshold: 0.01 # Start decelerating when a scene collision is this far [m]
 # Parameters for "stop_distance"-type collision checking
-collision_distance_safety_factor: 1000.0 # Must be >= 1. A large safety factor is recommended to account for latency
-min_allowable_collision_distance: 0.01 # Stop if a collision is closer than this [m]
+collision_distance_safety_factor: 100.0 # Must be >= 1. A large safety factor is recommended to account for latency
+min_allowable_collision_distance: 0.005 # Stop if a collision is closer than this [m]

src/ur_robotiq_servo/ur_robotiq_servo/ps5_control.py

@@ -58,7 +58,7 @@ class PS5ControllerNode(Node):
             self.get_logger().info(f'Mode switched to: {self.mode}')
         self.last_button_state = current_button_state
 
-        left_trigger = (msg.axes[2] - 1) / - 2.0
+        left_trigger = (msg.axes[4] - 1) / - 2.0
         right_trigger = (msg.axes[5] - 1) / - 2.0
 
         # Process control input based on current mode