Attention: Answers.ros.org is deprecated as of August the 11th, 2023. Please visit robotics.stackexchange.com to ask a new question. This site will remain online in read-only mode during the transition and into the foreseeable future. Selected questions and answers have been migrated, and redirects have been put in place to direct users to the corresponding questions on Robotics Stack Exchange. Additional details are available here.

Avoiding Jerk during trajectory preemption in MoveIt!

kinetic

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

Lentin Joseph

66 ●6 ●7 ●13 http://rosrobots.com/

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

Regards

edit retag flag offensive close merge delete

add a comment

1 Answer

Sort by » oldest newest most voted

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

Lentin Joseph

66 ●6 ●7 ●13 http://rosrobots.com/

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

http://wiki.ros.org/joint_trajectory_...

edit flag offensive delete link

add a comment

Question Tools

1 follower

Stats

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

Seen: 305 times

Last updated: Oct 30 '18

Avoiding Jerk during trajectory preemption in MoveIt! edit

1 Answer

Question Tools

Stats

Related questions

Avoiding Jerk during trajectory preemption in MoveIt!