# position_trajectory_controller has desired velocity above velocity limit

I'm using a position_controllers/JointTrajectoryController with moveit and just analyzing it's performance in sim. One issue I'm seeing is that for some reason my desired velocity vs actual velocity is very different. The actual velocity is limited by joint_limits.yaml at 0.1 rad/s.

here I simply call group.set_joint_value_target() to move a single joint to a target joint value. I don't understand why the desired velocity overshoots and then drops to 0 before the joint stops even moving.

Am I forgetting about some setting here or just not understanding something ?

edit retag close merge delete

Is your x-axis in seconds? It looks like the trajectory expects the joint to be able to move faster than 0.1 rad/s and the "actual" (the simulated controller) lags behind the target position and shoots to its maximum velocity of 0.1 rad/s. Have you tried lowering the velocity and acceleration of the plan, e.g. by setting the velocity_scaling_factor in the move group interface or retiming the trajectory? The tutorial is a bit sparse, but there is some example code (feel free to add more to the tutorial).