How to make robot movement in rviz with moveit smoother?

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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.

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

The overall resolution of MoveIt's fake controller&joint_state_controller is not overwhelming from my experience. I would recommend using https://github.com/PickNikRobotics/mo... , the underlying https://github.com/PickNikRobotics/ro... or any other ros_control stub.

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