Trajectory execution is very slow
Hello,
I'm observing the trajectory planned by moveit into Gazebo. My actual work is to simulate a warehouse in gazebo and implement pick -n- place. For this i'm using moveit to plan the trajectory and executing in into gazebo.
When i try to execute trajectory in the regular gazebo world (empty.world) trajectory execution is at regular speed. The actual problem is, when i load the warehouse models into gazebo the trajectory execution slows down, sometimes because of this Goal tolerance is violated.
my warehouse models include a bookshelf (from gazebo model directory), 5 .dae meshes i have converted from point clouds (having size around 800kb per models)
Can anybody tell me:
Why trajectory execution is slowing down when i use warehouse models??
How to increase the speed with which the trajectory will be sent from moveit to gazebo??
Thanks in advance.
Can you check the real time ratio of gazebo when it's running the trajectories. Is the simulation rate dropping significantly below 1?
@PeteBlackerThe3rd: Is it the real time factor displayed at the bottom of Gazebo GUI?? If yes then for empty.world: real time factor is 0.71 for warehouse model: real time factor is 0.48
If the trajectory motion you see is much slower than can be explained by this 50% simulation slowdown then there is probably something wrong with your joint controllers. It sounds like they are unable to move as fast as the trajectory requires.
okayy. This is completely new to me. what can i do in this case?? Can you suggest me some of the ways that i should try out??
@mvish7: were you able to find a solution to this? I'm using currently moveit to control the arms and torso of the PR2 and it's taking the PR2 about a minute to move the torso up 0.1mm.