-
Notifications
You must be signed in to change notification settings - Fork 27
New issue
Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.
By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.
Already on GitHub? Sign in to your account
Jerked Arm movements vs. roadmap #57
Comments
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
I managed to start the system based on a branch applying the ROS2 control and use MoveIt2 for planning the arm movements but the result is very unsmooth movements (the whole tb3_om jerks when moves) . I don’t know if this is due to some bugs/issues similar to (#55 (comment)) or it is “by design” due to current implementation scope and the improvement is on the roadmap. In other words is there a roadmap for this project and description of assumption/limitation assumed.
I’m new to robotics, but my understanding is that to have arm movement smooth, the joint_trajectory_controller may need to use not just “position” but also “velocity” (and “acceleration”) . Only after that using MoveIt with plugins for trajectory smoothing can result with smoot robot movements. I’m not sure if I correct understand this.
Anyway, is in the scope of this project to enable smoot control of the arm movement using ROS2 controls – or it is out -of scope.
The text was updated successfully, but these errors were encountered: