smooth movement of the gripper

src/ur_robotiq_moveit_config/bash/servo_startup.sh

@@ -0,0 +1,51 @@
+#!/bin/bash
+
+# Create a Tilix layout file in JSON format
+layout_file=$(mktemp)
+cat <<EOL > $layout_file
+{
+  "type": "Window",
+  "tabs": [
+    {
+      "type": "Terminal",
+      "children": [
+        {
+          "type": "Terminal",
+          "children": [
+            {
+              "type": "Terminal",
+              "command": "bash -c 'cd ~/PycharmProjects/UR_Robotiq && . install/setup.bash; exec bash'"
+            },
+            {
+              "type": "Terminal",
+              "command": "bash -c 'cd ~/PycharmProjects/UR_Robotiq && . install/setup.bash; exec bash'"
+            }
+          ],
+          "orientation": "vertical"
+        },
+        {
+          "type": "Terminal",
+          "children": [
+            {
+              "type": "Terminal",
+              "command": "bash -c 'cd ~/PycharmProjects/UR_Robotiq && . install/setup.bash; exec bash'"
+            },
+            {
+              "type": "Terminal",
+              "command": "bash -c 'cd ~/PycharmProjects/UR_Robotiq && . install/setup.bash; exec bash'"
+            }
+          ],
+          "orientation": "vertical"
+        }
+      ],
+      "orientation": "horizontal"
+    }
+  ]
+}
+EOL
+
+# Open Tilix with the specified layout
+tilix --session $layout_file
+
+# Remove the temporary layout file
+rm $layout_file

src/ur_robotiq_moveit_config/config/ur_servo.yaml

@@ -8,7 +8,7 @@ command_in_type: "speed_units" # "unitless"> in the range [-1:1], as if from joy
 scale:
   # Scale parameters are only used if command_in_type=="unitless"
   linear:  0.4  # Max linear velocity. Meters per publish_period. Unit is [m/s]. Only used for Cartesian commands.
-  rotational:  0.8 # Max angular velocity. Rads per publish_period. Unit is [rad/s]. Only used for Cartesian commands.
+  rotational:  3.2 # 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: 0.5
 # This is a fudge factor to account for any latency in the system, e.g. network latency or poor low-level

src/ur_robotiq_servo/ur_robotiq_servo/ps5_control.py

@@ -159,7 +159,7 @@ class PS5ControllerNode(Node):
             twist_msg.header.frame_id = 'tool0'
             twist_msg.header.stamp = self.get_clock().now().to_msg()
             twist_msg.twist.linear.x = msg.axes[self.mappings['axes']['LeftStickHorizontal']] * self.linear_speed_multiplier
-            twist_msg.twist.linear.y = -msg.axes[self.mappings['axes']['LeftStickVertical']] * self.linear_speed_multiplier
+            twist_msg.twist.linear.y = msg.axes[self.mappings['axes']['LeftStickVertical']] * self.linear_speed_multiplier
             twist_msg.twist.linear.z = (left_trigger - right_trigger) * self.linear_speed_multiplier
             twist_msg.twist.angular.x = msg.axes[self.mappings['axes']['RightStickHorizontal']]
             twist_msg.twist.angular.y = msg.axes[self.mappings['axes']['RightStickVertical']]