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Adding snap(derivative of jerk) in trajectory

asked 2018-12-17 07:18:52 -0600

Pulkit123 gravatar image

Hi

I am using ROS Kinetic with Ubuntu 16.04. I want to implement quintic spine on acceleration profile in the trajectory given by MoveIt!. I have already applied the jerk limits and produced a better acceleration profile (trapezoidal). however I want to implement snap continuity (derivative of jerk) to make the acceleration profile more smooth. I didn't find any documents related to it. Can someone help me with it ?

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I didn't find any documents related to it.

What exactly are you looking for? Whether such limits are currently supported? Or how to add the functionality yourself?

gvdhoorn gravatar imagegvdhoorn ( 2018-12-17 07:58:11 -0600 )edit

I want to achieve smoothness at jerk level. hence it need to provide snap limits. I want to know whether snap limits are currently supported and if not how to make that functionality ?

Pulkit123 gravatar imagePulkit123 ( 2018-12-17 21:58:49 -0600 )edit

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answered 2018-12-18 06:50:54 -0600

gvdhoorn gravatar image

I want to achieve smoothness at jerk level. hence it need to provide snap limits. I want to know whether snap limits are currently supported

Afaik the current implementation only goes up to quintic, so snap would not be supported.

and if not how to make that functionality ?

If you want to keep using joint_trajectory_controller (ie: ros_control) then you may refer to #q310847 asked by your colleague. That shows you where the current implementation for quintic splines is located and which would probably be a starting point for your proposed extension.


In general: extending the trajectory generators like this would be very welcome, so please consider submitting a pull request if you succeed.

In any case I would recommend to discuss your approach somewhat over at ros-controls/ros_controllers/issues: the maintainers of ros_control pay attention to that tracker and it would be good to talk to them about this. They may be able to help you and/or suggest implementation strategies.

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Asked: 2018-12-17 07:18:52 -0600

Seen: 177 times

Last updated: Dec 18 '18