How to control the speed of urdf model using moveit
How can i dynamically vary the speed of urdf robot while it is doing some path planning in rviz?
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AFAIK no. There are planning constraints: https://github.com/ros-planning/movei... , but time parametrization happens after planning. Not sure if the ROS Industrial guys do something special in Descartes or the Cartesian Planner plugin.
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Descartes enforces joint velocity limits between each Cartesian point, but not end effector speed (is that what TCP stands for... tool control point?).
I'm using a UR10 that is limited to 25cm/s by the controller. Now I need to execute a plan as fast as possible. If my planned motion is slowed down by the controller, the motion stops after executing only a first part. Is there a way to work with robot that moves slower than expected?
