Advise of correct strategy of joint_trajectory_controller usage

asked 2021-01-25 08:36:20 -0600

MaximN74 gravatar image

updated 2021-01-25 08:43:37 -0600

Hi, colleagues!

Can you advise a correct usage of joint_trajectory_controller and steps to run it?

At this moment I acquire and save (in trajectory_msgs/JointTrajectory) trajectory points with positions and velocities of each joint of my revolute 6-DoF manipulator. Each point has its time, of course.

The manipulator has joint velocities as control input, so I think the "velocity_controllers/JointTrajectoryController" will be good for this task.

Have not experience of setup ros-controllers and looked for good guide(s), but all found are little complicated.

Specifically questions are:

  1. How can I command manipulator to go to start trajectory point from arbitratry configuration? What topic/service should I use?

  2. Can I set the velocity or time of movement to start trajectory point? Which way?

  3. Can I obtain the reaches/tolerances of trajectory reference points?

  4. From your experience, what is the practical error of joint position/velocity with hardware robots? I understand it depends on sensor resolution, but also with PID tuning...

  5. Can controller send information of trajectory finish? What topics/actions etc.

  6. Is it better to use MoveIt API/classes/functions instead of "raw" ROS-controllers?

Will appreciate any advices.

Best wishes, Maxim.

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