Jerky motion even when using vel_traj_controller of ur_robot_driver [closed]

asked 2020-09-15 20:43:22 -0600

Victor Wu gravatar image

When I was using ur_modern_driver on ur3 last year, the ros vel based controller, the manipulator can move smoothly. Now, I am trying the vel_traj_controller of the ur_robot_driver on ur5, the movement of the manipulator is very jerky!

Is there any thing that can be done to smooth the motion?

Thank you for your help.

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Closed for the following reason duplicate question by gvdhoorn
close date 2020-09-16 02:17:08.677085

Comments

I would really recommend you post these types of questions on the issue tracker of the driver itself.

I'm not sure the maintainer(s) of the driver is monitoring ROS Answers, so the chances of you getting an answer here are rather slim.

If/when you do post on the issue tracker, post a comment here with a link to your issue, so we can keep things connected.

gvdhoorn gravatar image gvdhoorn  ( 2020-09-16 01:53:40 -0600 )edit

@gvdhoorn, I have posted similar question in

robot_driver: unused / non-existing 'vel_based_pos_traj_controller'? #206

just this morning. Victor Wu.

Victor Wu gravatar image Victor Wu  ( 2020-09-16 02:08:15 -0600 )edit

I have posted similar question

Ok, so where is the link? And why don't you mention that in your post here?

Please don't cross-post like that.

If we start splitting discussions across different fora it's not going to help.

Update your issue on the tracker and close your question here as a duplicate.

gvdhoorn gravatar image gvdhoorn  ( 2020-09-16 02:10:12 -0600 )edit

@gvdhoorn, I am sorry, first I don't know how to cross link the post here. Second, I found that issue #206 after I posted this question here. I have mentioned I have posted this question here in the comment of issue #206. I am closing this question here now.

Victor Wu gravatar image Victor Wu  ( 2020-09-16 02:13:44 -0600 )edit

How to close this question here? without an answer?

Victor Wu gravatar image Victor Wu  ( 2020-09-16 02:15:01 -0600 )edit

I don't know how to cross link the post here

Just copy-paste the URL of your Github issue in a comment here.

gvdhoorn gravatar image gvdhoorn  ( 2020-09-16 02:17:03 -0600 )edit