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Avoiding Jerk during trajectory preemption in MoveIt!

asked 2018-10-30 01:41:49 -0600


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


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answered 2018-10-30 01:43:24 -0600

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

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Asked: 2018-10-30 01:41:49 -0600

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Last updated: Oct 30 '18