Hello!

I'm building 6-axis 3d printer. At this moment, i can send g-code to the robot, robot is following the trajectory in RViz and in real time.

Now i'm trying to find a way how to set velocity parameters, so i can set the robot to move in constant speed and straight line between the points, using velocity parameters i define. I'm planning the trajectory using Descartes.

I'm using: Ubuntu 18.04 and ROS Melodic.

Moveit and Descartes.

Staubli TX40 robot with cs8 controller.

Here is a github link to my project.

What options do i have, and how others do it? I found that when i'm changing "delta time used to get to next pose" here, it affects speed of the movement. Maybe it is related to the solution? I tested this only using RViz at the moment.

Thank you!

Edit: Probably solved. I will post a new link how i did it later.