Control velocity of joints in Moveit/ROS [closed]
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?
this confuses me: if you limit the maximum velocity, would that not cause the motion as a whole to become slower / take more time?
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