Moveit - Execution time taking longer than planned trajectory time

asked 2019-08-26 15:34:58 -0500

tc-simulate gravatar image

updated 2019-08-27 12:30:16 -0500

planned path time = ~1.1 seconds:

  nsecs: 885271944, positions: [-0.48448004710291614, -0.09942424170707741, 0.004718940229921368, 0.09898187735977196]
velocities: [0.0, 0.0, 0.0, 0.0]
accelerations: [-0.0005541344082501916, 0.9835619544845456, 0.0491241882956151, -0.9813578158264338]
effort: []
time_from_start: 
  secs: 1
  nsecs: 100745901]

Execution time ~ 1.5s:

~[ INFO] [1566850701.580949266]: Execution request received

~[ INFO] [1566850701.622960645]: Fake execution of trajectory

~[ INFO] [1566850703.122691184]: Completed trajectory execution with status SUCCEEDED ...

~[ INFO] [1566850703.122798856]: Execution completed: SUCCEEDED

~[ INFO] [1566850703.123152323]: Received event 'stop'

I'm just using movegroup's plan and execute functions to plan a straightforward path.

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Comments

Is this just messaging overhead? What if you change the velocity scaling factors or do longer motions? Is the extra time always around 400 ms?

fvd gravatar image fvd  ( 2020-03-02 05:00:35 -0500 )edit
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