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High CPU load, network delays, etc. can result in jerky movements for the reasons @Guido pointed out.

You can test what is responsible by using rostopic pub with a high enough rate. This eliminates any keypress delays. If that works nicely, it is the keypresses. If you see problems running that on the robot, it probably is the CPU load. If that works and you run it from the workstation and see problems there, it is the network.

The only thing you should be aware of is that it will continue sending motion commands until you kill it.