execute a pose in moveit too slow

I have a manipulator 6 DOF I can send it a pose with position and orientation and I set up a simple GUI using tkinter to publish the pose data for moveit to execute on RVIz. It pretty slower than what I expect I want it to be realtime but it take a period time about 6-7 second for every execution for 0.01 position to the next time press the button on GUI. Does anyone know how to make it better to get it realtime thanks in advance

Asked by nguyentuMTA on 2019-05-31 01:56:03 UTC

Comments

It pretty slower than what I expect I want it to be realtime but it take a period time about 6-7 second for every execution for 0.01 position to the next time press the button on GUI.

Please read #q261368, I believe it is related.

If I understand you correctly you are trying to implement a jogging interface and then using MoveIt as the backend. That is not going to work. Or at least, I believe not in a satisfactory way (but to no fault of MoveIt).

Asked by gvdhoorn on 2019-05-31 01:58:21 UTC

I have already do the compute cartesian path but that is for already know trajectory but in my case I want to control robot by hand. Basically I want to control it in realtime .Is there any way to do that with ROS? like I use joystick analog to move arm and robot execute it synchronize thanks in advance

Asked by nguyentuMTA on 2019-05-31 03:31:00 UTC

I have already do the compute cartesian path but that is for already know trajectory

The referenced Q&A was about using MoveIt for something it was not meant to be used for. That is why I linked to it. Not to tell you about computeCartesianPath(..).

Asked by gvdhoorn on 2019-05-31 06:14:20 UTC

Answers

I want to control robot by hand. Basically I want to control it in realtime .Is there any way to do that with ROS? like I use joystick analog to move arm and robot execute it

OK, as I thought.

Using a complete MoveIt plan cycle is not going to work in that case.

You could take a look at jog_arm which was recently integrated into the moveit_experimental repository. The wiki page hasn't been updated yet, but the version in ros-planning/moveit/moveit_experimental/jog_arm should do what you're after.

Note: it's not jerk-limited, so if your robot requires that, it probably won't work / need additional filtering.

Asked by gvdhoorn on 2019-05-31 05:07:47 UTC

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.Is there any way to do that with ROS?

please note: asking whether something can be done "with ROS" is not a question that can be answered. It's the components/packages/nodes that make up an application, not "ROS".

Asked by gvdhoorn on 2019-05-31 05:08:40 UTC