Limits are too conservative on FCI

[prakharg01]

Hi, while running the franka_ros2 wrapper built on top of libfranka, we notice that the limits set are too conservative for operation. The arms gets into joint velocity violation very often, but the workspace seems to be safe.

• Is there a way to override FCI limits(positions or velocity). Can we modify through watchman to make the arm move faster or close to limits. We are working on realtime teleoperation and the arm keeps getting the same joint velocity violation when we are using external joint impedance controller.

• The Cartesian and joint position controllers written as examples in franka_ros2 don't seem to even start working on h/w, as soon as the controllers are activated the arm gives the violation. We also notice that the ROS2 system plugin uses active_control rather than robot.control. Running the example using libfranka examples works but same one fails or gives violation when using Ros2

• We need to make the safety a little less conservative and don't seem to find a way for that.