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Real robot only jerks for cartesian planner output [closed]

asked 2018-12-06 23:58:02 -0500

athikr gravatar image

I am using a 7DOF manipulator. I have planned a cartesian path for it. I have tested it in demo.launch provided by Moveit. Now I am testing the same with hardware, but then robot in RVIZ still takes the planned path whereas hardware just keep jerking. I am confused as my robot can successfully take the path given by ompl in sync with robot in RVIZ. Thanks in advance, for any valuable response.

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Closed for the following reason duplicate question by athikr
close date 2018-12-12 00:54:12.496230

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answered 2018-12-07 00:13:01 -0500

athikr gravatar image

I solved the problem. I was publishing the joint comands to be zero forcefully in a part of my code.

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Asked: 2018-12-06 23:58:02 -0500

Seen: 80 times

Last updated: Dec 07 '18