Change fail_out_of_range_goal default to False

stretch_core/README.md

@@ -8,7 +8,7 @@
 
 *detect_aruco_markers* : node that detects and estimates the pose of ArUco markers, including the markers on the robot's body
 
-*d435i_** : various nodes to help use the Stretch RE1's 3D camera
+*d435i_* : various nodes to help use the Stretch RE1's 3D camera
 
 *keyboard_teleop* : node that provides a keyboard interface to control the robot's joints
 

stretch_core/launch/stretch_driver.launch

@@ -41,7 +41,9 @@
     <param name="controller_calibration_file" type="string" value="$(arg calibrated_controller_yaml_file)"/>
   </node>
 
+  <!--
   <node name="aggregator_node" pkg="diagnostic_aggregator" type="aggregator_node">
     <rosparam command="load" file="$(find stretch_core)/config/diagnostics.yaml" />
   </node>
+  -->
 </launch>

stretch_core/nodes/stretch_driver

@@ -543,7 +543,7 @@ class StretchDriverNode:
         self.last_twist_time = rospy.get_time()
 
         # start action server for joint trajectories
-        self.fail_out_of_range_goal = rospy.get_param('~fail_out_of_range_goal', True)
+        self.fail_out_of_range_goal = rospy.get_param('~fail_out_of_range_goal', False)
         self.joint_trajectory_action = JointTrajectoryAction(self)
         self.joint_trajectory_action.server.start()
         self.diagnostics = StretchDiagnostics(self, self.robot)