ros_control individual joint trajectories for each controller?

asked 2019-10-22 15:55:33 -0500

jbeck28 gravatar image

I'm using ros_control with moveit, and I'm not entirely clear on what takes place between the group.execute() command, and the trajectories getting sent to the joint controllers... the problem I'm having is that I'm trying to interpolate the joint trajectories at points where velocity isn't constant, but since each joint has different acceleration characteristics, the time I need to interpolate for each joint is different, meaning if I evenly space the interpolation, there will be a different number of points in the trajectory for each joint.

However, in looking at the format for a moveit_msgs::RobotTrajectory, for each point there are 6 values corresponding to joint position, velocity and acceleration. So I can't really do this (I have a workaround in my head). However, I know I can configure the PID values for the controllers separately for each joint on the robot, so it seems to me that I could possibly forward separate joint trajectories to each of the joint controllers?

Any input would be appreciated. As I mentioned, I have a solution in my head, but I figured that I might be missing some functionality of ros_control, or moveit which might make my hack job unnecessary.

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