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Why is my robot moving so slow with MoveIt?

asked 2020-03-08 22:50:39 -0500

fvd gravatar image

My robot is running slower than it should. It can move much faster. How can I make it go at full speed?

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answered 2020-03-08 22:53:08 -0500

fvd gravatar image

By default, the velocity and acceleration is set to 10% of the robot's maximum in MoveIt (starting from Noetic). You can change the values in your code with this C++ and this Python function, or change the default value in the joint_limits.yaml file in your moveit_config package.

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answered 2020-03-09 03:13:13 -0500

gvdhoorn gravatar image

updated 2020-03-09 03:19:39 -0500

In addition to what @fvd writes, also check whether the robot model has appropriate velocity and acceleration limits configured.

If it doesn't, MoveIt (or actually: the time-parameterisation plugins) will assume a default of 1.0 rad/s and 1.0 rad/s^2 for all joints without limits:

  • here for the IterativeParabolicTimeParameterization
  • here for the IterativeSplineParameterization
  • here and here for the TimeOptimalTrajectoryGeneration
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Asked: 2020-03-08 22:50:39 -0500

Seen: 108 times

Last updated: Mar 09