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How to make robot movement in rviz with moveit smoother?

asked 2018-11-06 07:25:29 -0500

boandlgrama gravatar image


Is there a possibility to make the robot movement in rviz smoother? As you can see in the video, the planned path is relatively smooth, but the simulated movement of the robot is lagging:

I created the moveit config of the robot by myself with the moveit setup assistant.

I am using kinetic with rviz version 1.12.16.

Thanks in advance

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answered 2018-11-28 05:08:40 -0500

boandlgrama gravatar image

The solution is to increse the parameter 'rate' for the joint_state_publisher. The default is only 10 Hz.

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Which you do by adding <param name="rate" value="100"/> to the joint_state_publisher call in your demo.launch file.

fvd gravatar image fvd  ( 2020-04-01 07:06:18 -0500 )edit

I thought this would fix it, but actually it isn't very smooth, still. There may be another parameter to tweak.

fvd gravatar image fvd  ( 2020-04-01 21:50:30 -0500 )edit

The overall resolution of MoveIt's fake controller&joint_state_controller is not overwhelming from my experience. I would recommend using , the underlying or any other ros_control stub.

v4hn gravatar image v4hn  ( 2020-04-02 05:44:58 -0500 )edit

doesn't work "rostopic hz /joint_states" increased but angles update rate is 10hz

omeranar1 gravatar image omeranar1  ( 2021-02-15 09:25:26 -0500 )edit

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Asked: 2018-11-06 07:25:29 -0500

Seen: 735 times

Last updated: Nov 28 '18