Weird MoveIt! trajectories to 3-DOF Arm

asked 2015-03-07 04:16:22 -0500

costashatz gravatar image

Hello,

I am getting weird trajectories in MoveIt! to 3-DOF arms! Below there is a video showing the planned trajectories:

https://www.youtube.com/watch?v=s0FOh...

All the moveit configuration files are the default produced by MoveIt! Setup Assistant (I have only modified the controllers.yaml to include my controllers). The ROS controllers are effort_controllers/JointTrajectoryController and the MoveIt! controllers are FollowJointTrajectory. For the ROS controllers I have provided the dummy but stable enough PID values of {p: 100.0, i: 0.01, d: 10.0} for all the joints.. I also tried position_controllers/JointTrajectoryController for the ROS controllers and providing PID values to gazebo_ros_control , but the result was again weird trajectories..

Any thoughts on why this is happening?

Thanks in advance,

Konstantinos

edit retag flag offensive close merge delete

Comments

You haven't explained how "weird" (or how different from what you expect) the trajectory is.

130s gravatar image 130s  ( 2015-03-11 05:39:25 -0500 )edit

The trajectory computed is way too long and not the obvious one.. Check this trajectory to see the difference: https://www.youtube.com/watch?v=3GanW...

costashatz gravatar image costashatz  ( 2015-03-11 06:27:33 -0500 )edit
add a comment