UR10e movement from MoveIt is not smooth
A partner of us is using a new UR10e robot. They use ur_modern_driver (kinetic-devel) to use the robot with ROS. When they use the RViz plugin to plan a trajectory using MoveIt, the resulting trajectory looks ok in the visualisation. However, when the robot executes the trajectory, it stops at every waypoint. There are 10 waypoints in a plan, so the movement looks clumsy. Moreover, they had to decrease the velocity and acceleration scaling. Otherwise, the movement resulted in the robot to go in safety stop.
The log files show that a list of movej commands is sent to the robot. It looks like the t and/or r parameters are not correct for the robot (r is 0 and t is probably to high). We don't have much experience with this robot. Do we have to tune these parameters to get a smooth trajectory? Is is possible to do this using the RViz plugin? Are there default settings for a UR10e? Should we create the trajectory in a different way?
The e-series are officially not supported yet by
ur_modern_driver
. That is partly why Universal Robots started the development of a new driver.If you post your issue on the issue tracker of
ur_modern_driver
, it may be that some of the other users that try to use it with e-series robots could help.Just to clarify: in the meantime
ur_robot_driver
has been released, and it fully supports e-Series robots (as well as CB3 non-e-Series robots).ur_modern_driver
should not be used any more with these robots.Refer to UniversalRobots/Universal_Robots_ROS_Driver for more information.