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Control velocity of joints in Moveit/ROS [closed]

asked 2018-12-19 08:22:34 -0500

pranavb104 gravatar image

updated 2018-12-21 08:07:35 -0500

Hey all!,

I am trying to use Moveit to control the movements on my real robot. I have setup JointTrajectory Controllers which get the position and velocities from Moveit and relay it to my Arduino which in turn controls 3 steppes.

The problems I'm having , is with the velocityof the joints in Moveit. They are a bit high , due to which my steppers cannot keep-up and they eventually lose-sync for complicated trajectories. Is there a way to scale the velocities down? I have tried joint_limits to control the max velocity, but it does not help as it only limits and does not scale or slow down the motion in Moveit. Is there a way to slow down the execution time? I have seen time parameterization...but is there any other way to my problem?

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Closed for the following reason question is off-topic or not relevant. Please see http://wiki.ros.org/Support for more details. by pranavb104
close date 2018-12-21 08:08:21.244799

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I have tried joint_limits to control the max velocity, but it does not help as it only limits and does not scale or slow down the motion in Moveit

this confuses me: if you limit the maximum velocity, would that not cause the motion as a whole to become slower / take more time?

gvdhoorn gravatar imagegvdhoorn ( 2018-12-19 14:37:44 -0500 )edit

My mistake....I thought the problem was that my joints were not moving slowly, but the problem is in my firmware/arduino and the rate at which values are being published from ROS to arduino....I will close this thread, as this question is irrelevant

pranavb104 gravatar imagepranavb104 ( 2018-12-21 08:07:28 -0500 )edit

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answered 2018-12-19 10:19:23 -0500

aPonza gravatar image

Take a look at MoveGroupInterface::setMaxVelocityScalingFactor and MoveGroupInterface::setMaxAccelerationScalingFactor right under it.

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Asked: 2018-12-19 08:22:34 -0500

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Last updated: Dec 21 '18