ROS Resources: Documentation | Support | Discussion Forum | Index | Service Status | ros @ Robotics Stack Exchange
Ask Your Question

Avoiding Jerk during trajectory preemption in MoveIt!

asked 2018-10-30 01:41:49 -0500


I have noted that the robot is jerking a bit during cancelling the existing trajectory goal. What can be the reason?


edit retag flag offensive close merge delete

1 Answer

Sort by ยป oldest newest most voted

answered 2018-10-30 01:43:24 -0500

I got the solution. There is a parameter called "stop_trajectory_duration" in trajectory controller. Just adjust this value to make the ending smooth.

edit flag offensive delete link more

Question Tools

1 follower


Asked: 2018-10-30 01:41:49 -0500

Seen: 292 times

Last updated: Oct 30 '18