Velocity control
Hello,
I use ur10 with moveit. I would like to play with velocity slower or faster. Therefore, how can i do it? Thank you.
Asked by morgue on 2019-02-22 07:08:20 UTC
Hello,
I use ur10 with moveit. I would like to play with velocity slower or faster. Therefore, how can i do it? Thank you.
Asked by morgue on 2019-02-22 07:08:20 UTC
Comments
Sorry your question doesn't make much sense. What are you trying to do?
Asked by PeteBlackerThe3rd on 2019-02-22 10:35:33 UTC
Most likely the question is about having control over the (maximum) velocity used to execute a motion/trajectory.
"velocity control" would be something else.
Asked by gvdhoorn on 2019-02-22 10:56:55 UTC
I would like to play with speed between minimum and maximum velocity. Because i guess it works nearly full speed and i could not know how to make it slower.
Asked by morgue on 2019-02-22 11:42:24 UTC
I think by defaut, the plan you get is full speed. You can set max_velocity_factor and max_acceleration_factor for your move_group, this will do the slow down. By default the parameter is 1.0.
Asked by flyinskybtx on 2019-03-11 21:20:31 UTC
If you are using moveit within rviz, you can also change the value in the spin box called velocity scaling in the moveit motion planning plugin. Also have a look at this http://docs.ros.org/kinetic/api/moveit_tutorials/html/doc/time_parameterization/time_parameterization_tutorial.html
Asked by jclinton830 on 2019-07-09 19:34:46 UTC