Trajectory execution is very slow

asked 2019-01-09 04:49:36 -0600

mvish7 gravatar image

updated 2019-01-09 04:53:04 -0600


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 ( 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:

  1. Why trajectory execution is slowing down when i use warehouse models??

  2. How to increase the speed with which the trajectory will be sent from moveit to gazebo??

Thanks in advance.

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Can you check the real time ratio of gazebo when it's running the trajectories. Is the simulation rate dropping significantly below 1?

PeteBlackerThe3rd gravatar image PeteBlackerThe3rd  ( 2019-01-09 04:57:58 -0600 )edit

@PeteBlackerThe3rd: Is it the real time factor displayed at the bottom of Gazebo GUI?? If yes then for real time factor is 0.71 for warehouse model: real time factor is 0.48

mvish7 gravatar image mvish7  ( 2019-01-09 05:17:57 -0600 )edit

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.

PeteBlackerThe3rd gravatar image PeteBlackerThe3rd  ( 2019-01-09 06:06:50 -0600 )edit

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 gravatar image mvish7  ( 2019-01-09 06:08:56 -0600 )edit

@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.

lulu110997 gravatar image lulu110997  ( 2021-06-29 02:45:57 -0600 )edit