Velocity control of PR2 arms and head
Hi all,
I'm trying to implement a visual servoing on PR2. I want to send joint velocities at some rate to the PR2 arms and the head.
After reading this tutorial Moving the arm using the joint trajectory action I computed an complete trajectory for joints of arms with around 800 waypoints (and provide velocity) with a period of 100 Hz, and send them to the robot in Gazebo simulation, it works almost perfectly [see bad video] ( https://www.youtube.com/watch?v=z8Ltc... ).
But when I compute periodically joints velocities and send them to the robot using the joint trajectory action with 1,2 or 3 way points, it seems to me that the arms follows the complete trajectory and stop at the last waypoint, whatever the given velocity.(and the visual servoing task is completed after 8 minutes instead of 13 seconds).
And also the head fall down to the front, while the next way point is computed to raise the head. I got all these results in Gazebo, with ROS Groovy on Ubuntu 12.04. ( I cannot upgrade the ROS neither the OS).
Is someone can point me the mistakes I possibly (probably) made, and suggest me a better way to implement the control, it would be really helpful.
Thank you in advance !
I can provide a more recent video if need, and please excuse the mistakes made by a french speaker.
