Publish robot joint trajectory by publishing JointState positions to joint_state

asked 2021-08-10 08:17:39 -0600

FrankBu0616 gravatar image

Hi, I am trying to write a simple controller that outputs a series of waypoints and send it to the robot in rviz. Even if I set the publishing frequency very high, the robot’s motion is very jerky and not smooth, even if the waypoints are smooth. I am publishing jointState message that contains position messages, is there any reason for this? Thanks!

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JointState messages aren't really intended to encode desired state. They're used to report current state.

gvdhoorn gravatar image gvdhoorn  ( 2021-08-10 10:27:22 -0600 )edit
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