Smooth JointTrajectory calculation

asked 2015-08-06 09:46:14 -0500

tambel gravatar image

updated 2015-08-06 09:55:22 -0500

HI.I wrote simple adapter to my robot that listen topic with JointTrajectory messages, and motors drivers rotating motor angles by this messages.

First question: is JointTrajectory good option for this task?

All motor features hidden from me, and i cant control motor in low level layer, i just can set rotation angle. One of the features- limitation of instant angle rotation (for example: it cant move from 0 deg to 90deg instantly, because limit on 50deg and it stops on 50deg). That limitation implemented in low level layer of motor and i don't have access to it. Right way, i think, to rotate it smoothly, by small angle, and small time interval.

Second question: what can i use in ros, to calculate JointTrajectory with smooth joint rotation? I know i can calculate by myself, but i just want to know if some tool is exist.

Thank you.

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