Velocity overwriting issue when physical controller is connected

asked 2020-05-12 09:05:49 -0500

tom94 gravatar image

updated 2020-05-15 07:59:25 -0500

Hello to everyone!

I'm sending trajectory to the robot using descartes path-planner. I was previously working mostly in simulation. I was able to send the trajectory to the physical robot and it was executing it, but without possibility to set the velocity parameters. I found that descartescartes is using delta time to get to next pose. So i calculated parameters to the right value i need using distance formula. This worked for me and affected visibly in simulation, i was able to define velocity parameters between the points. But when i connected my laptop to the physical robot controller, it is not affecting anymore. Looks like that maybe physical controller is overwriting the values? I don't really know.

So my question is, what is affecting to the physical robot velocity parameters, and how can i remove velocity overwriting/ set velocity parameters when physical controller is connected? Or maybe here is other solutions? My main task is to be able to set the robot to move at a constant speed between every point. 40mm/min for example.

I'm using: Descartes for path planning. RViz for simulation. Stäubli TX40 robot with cs8c controller. Configurated with MoveIt. (moveit_config, moveit_planning_execution.launch) staubli_experimental. ROS melodic.

I don't have a strong knowledge when it comes to the physical robot, as i was working mostly in simulation, and robot was initialized with ROS by a previous developer. Hope i provided all necessary information and solution could be found. Thanks in advance to everyone!

Just in case, link to the project

Edit. And of course, i'm using Ubuntu 18.04

edit retag flag offensive close merge delete