[feature_request] Decrease joint trajectory controller goal tollerance

[rickstaa]

As mentioned in e899240#commitcomment-60095175 the current goal tolerance of the JointTrajctory controller is quite big. I think making it smaller (~0.005) would enforce more accurate behaviour:

franka_ros/franka_control/config/default_controllers.yaml

Lines 13 to 19 in e899240

	panda_joint1: { goal: 0.05}
	panda_joint2: { goal: 0.05}
	panda_joint3: { goal: 0.05}
	panda_joint4: { goal: 0.05}
	panda_joint5: { goal: 0.05}
	panda_joint6: { goal: 0.05}
	panda_joint7: { goal: 0.05}

franka_ros/franka_control/config/default_controllers.yaml

Lines 41 to 47 in e899240

	panda_joint1: { goal: 0.05}
	panda_joint2: { goal: 0.05}
	panda_joint3: { goal: 0.05}
	panda_joint4: { goal: 0.05}
	panda_joint5: { goal: 0.05}
	panda_joint6: { goal: 0.05}
	panda_joint7: { goal: 0.05}

[fe-support]

Closing due to inactivity. Please open this git issue again if the topic still exists.

[rickstaa]

@fe-support I think the concern given by @rhaschke still is valid as @frankaemika did not change the contain tolerance:

franka_ros/franka_control/config/default_controllers.yaml

Lines 11 to 19 in 3584069

	constraints:
	goal_time: 0.5
	$(arg arm_id)_joint1: { goal: 0.05}
	$(arg arm_id)_joint2: { goal: 0.05}
	$(arg arm_id)_joint3: { goal: 0.05}
	$(arg arm_id)_joint4: { goal: 0.05}
	$(arg arm_id)_joint5: { goal: 0.05}
	$(arg arm_id)_joint6: { goal: 0.05}
	$(arg arm_id)_joint7: { goal: 0.05}

I think closing without explaining why the big tolerance is given might not be the best option 🤔. Can you maybe re-open this issue or explain why you chose the 5cm tolerance?

[marcbone]

yeah we shouldnt have closed this. Nobody really investigated this so I am gonna reopen it. Also its not 5 cm but 0.05 radian 😅