From 07379600af65724c81510e71f04c18e89e77811f Mon Sep 17 00:00:00 2001
From: Woojin Wie <wwj@robotis.com>
Date: Sun, 26 Jan 2025 07:21:16 +0000
Subject: [PATCH] Using Velocity Profile of Dynamixel to make the motion
 smoother

---
 ...en_manipulator_x_system.ros2_control.xacro |  8 +++++
 .../config/joint_limits.yaml                  | 36 +++++++++----------
 2 files changed, 26 insertions(+), 18 deletions(-)

diff --git a/open_manipulator_x_description/ros2_control/open_manipulator_x_system.ros2_control.xacro b/open_manipulator_x_description/ros2_control/open_manipulator_x_system.ros2_control.xacro
index 50090ca1..2b43810e 100644
--- a/open_manipulator_x_description/ros2_control/open_manipulator_x_system.ros2_control.xacro
+++ b/open_manipulator_x_description/ros2_control/open_manipulator_x_system.ros2_control.xacro
@@ -117,6 +117,8 @@
         <param name="Position P Gain">800</param>
         <param name="Position I Gain">100</param>
         <param name="Position D Gain">100</param>
+        <param name="Profile Velocity">200</param>
+        <param name="Profile Acceleration">50</param>
         <param name="Drive Mode">0</param>
       </gpio>
 
@@ -132,6 +134,8 @@
         <param name="Position P Gain">800</param>
         <param name="Position I Gain">100</param>
         <param name="Position D Gain">100</param>
+        <param name="Profile Velocity">200</param>
+        <param name="Profile Acceleration">50</param>
         <param name="Drive Mode">0</param>
       </gpio>
 
@@ -147,6 +151,8 @@
         <param name="Position P Gain">800</param>
         <param name="Position I Gain">100</param>
         <param name="Position D Gain">100</param>
+        <param name="Profile Velocity">200</param>
+        <param name="Profile Acceleration">50</param>
         <param name="Drive Mode">0</param>
       </gpio>
 
@@ -162,6 +168,8 @@
         <param name="Position P Gain">800</param>
         <param name="Position I Gain">100</param>
         <param name="Position D Gain">100</param>
+        <param name="Profile Velocity">200</param>
+        <param name="Profile Acceleration">50</param>
         <param name="Drive Mode">0</param>
       </gpio>
 
diff --git a/open_manipulator_x_moveit_config/config/joint_limits.yaml b/open_manipulator_x_moveit_config/config/joint_limits.yaml
index b8c7d327..871a7bb7 100644
--- a/open_manipulator_x_moveit_config/config/joint_limits.yaml
+++ b/open_manipulator_x_moveit_config/config/joint_limits.yaml
@@ -10,33 +10,33 @@ default_acceleration_scaling_factor: 0.1
 joint_limits:
   gripper_left_joint:
     has_velocity_limits: true
-    max_velocity: 4.7999999999999998
-    has_acceleration_limits: false
-    max_acceleration: 0
+    max_velocity: 4.796164779
+    has_acceleration_limits: true
+    max_acceleration: 18.7253757
     has_position_limits: true
 
   gripper_right_joint:
     has_velocity_limits: true
-    max_velocity: 4.7999999999999998
-    has_acceleration_limits: false
-    max_acceleration: 0
+    max_velocity: 4.796164779
+    has_acceleration_limits: true
+    max_acceleration: 18.7253757
   joint1:
     has_velocity_limits: true
-    max_velocity: 4.7999999999999998
-    has_acceleration_limits: false
-    max_acceleration: 0
+    max_velocity: 4.796164779
+    has_acceleration_limits: true
+    max_acceleration: 18.7253757
   joint2:
     has_velocity_limits: true
-    max_velocity: 4.7999999999999998
-    has_acceleration_limits: false
-    max_acceleration: 0
+    max_velocity: 4.796164779
+    has_acceleration_limits: true
+    max_acceleration: 18.7253757
   joint3:
     has_velocity_limits: true
-    max_velocity: 4.7999999999999998
-    has_acceleration_limits: false
-    max_acceleration: 0
+    max_velocity: 4.796164779
+    has_acceleration_limits: true
+    max_acceleration: 18.7253757
   joint4:
     has_velocity_limits: true
-    max_velocity: 4.7999999999999998
-    has_acceleration_limits: false
-    max_acceleration: 0
+    max_velocity: 4.796164779
+    has_acceleration_limits: true
+    max_acceleration: 18.7253757