Tune Servo params so it does not get stuck so easily (#2939)

moveit_ros/moveit_servo/config/panda_simulated_config.yaml

@@ -12,7 +12,7 @@ max_expected_latency: 0.1  # delay between sending a command and the robot execu
 command_in_type: "speed_units"  # "unitless"> in the range [-1:1], as if from joystick. "speed_units"> cmds are in m/s and rad/s
 scale:
   # Scale parameters are only used if command_in_type=="unitless"
-  linear:  0.4  # Max linear velocity. Unit is [m/s]. Only used for Cartesian commands.
+  linear:  0.2  # Max linear velocity. Unit is [m/s]. Only used for Cartesian commands.
   rotational:  0.8  # Max angular velocity. Unit is [rad/s]. Only used for Cartesian commands.
   # Max joint angular/linear velocity. Only used for joint commands on joint_command_in_topic.
   joint: 0.5
@@ -41,9 +41,9 @@ check_octomap_collisions: false  # Check collision against the octomap (if a 3D
 move_group_name:  panda_arm  # Often 'manipulator' or 'arm'
 
 ## Configure handling of singularities and joint limits
-lower_singularity_threshold:  17.0  # Start decelerating when the condition number hits this (close to singularity)
+lower_singularity_threshold:  10.0  # Start decelerating when the condition number hits this (close to singularity)
 hard_stop_singularity_threshold: 30.0  # Stop when the condition number hits this
-joint_limit_margins: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1]  # added as a buffer to joint limits [radians or meters]. If moving quickly, make this larger.
+joint_limit_margins: [0.12, 0.12, 0.12, 0.12, 0.12, 0.12, 0.12]  # added as a buffer to joint limits [radians or meters]. If moving quickly, make this larger.
 leaving_singularity_threshold_multiplier: 2.0  # Multiply the hard stop limit by this when leaving singularity (see https://github.com/moveit/moveit2/pull/620)
 
 ## Topic names