High jerks in acceleration values [closed]

asked 2018-12-12 23:12:46 -0600

prashanthi tata gravatar image


I am using ros-kinetic version on ubuntu 16.04 . I am sending trajectories from MoveIt to ros control. To analyse trajectory, I compared trajectory given by MoveIt with the output of ros control and found that acceleration profile of ros control output has so many jerks and overshoots and is not following MoveIt trajectory.

I have subscribed from /position_trajectory_controller/command to get output from ros control. I have plotted the trajectory using octave in both cases.

Can someone explain why this is happening?

Thanks in advance

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Closed for the following reason duplicate question by prashanthi tata
close date 2018-12-13 06:00:52.024720


This seems very similar to https://answers.ros.org/question/3105... . Are you both working on the same project or homework assignment?

ahendrix gravatar imageahendrix ( 2018-12-13 00:40:43 -0600 )edit

same project

prashanthi tata gravatar imageprashanthi tata ( 2018-12-13 04:12:59 -0600 )edit

Then I would suggest to merge your two question as right now they're almost duplicates.

gvdhoorn gravatar imagegvdhoorn ( 2018-12-13 04:14:47 -0600 )edit