How to decrease the speed of my robot?

asked 2021-04-15 03:19:39 -0500

Ranjit Kathiriya
1624 ●18 ●148 ●46

updated 2022-04-30 13:24:06 -0500

lucasw

8729 ●137 ●239 ●256 https://github.com/lucasw

Hello there,

I am not able to decrease the speed of my real robot. If I am decreasing the speed from RVIZ by setting Velecoty Scaling and Accel Scaling then it is working fine. If I am giving the robot a trajectory from python code then it very fast does anyone have an idea of how can I be able to solve this issue?

I have tried few things:

By using set_max_velocity_scaling_factor and set_max_acceleration_scaling_factor function as maintained in following post.

move_group = moveit_commander.MoveGroupCommander(group_name) move_group.set_max_velocity_scaling_factor(0.01) move_group.set_max_acceleration_scaling_factor(0.01)
I have updated default_velocity_scaling_factor and default_acceleration_scaling_factor to 0.01 in joint_limits.yaml file.

answered 2021-04-15 04:44:28 -0500

crnewton
71 ●4 ●16 ●15

updated 2021-05-31 04:21:23 -0500

in case of computeCartesianPath(..) there is no support for scaling velocities/accelerations. You can control the speed by using retime_trajectory(..):

        waypoints = getMyWaypoints()

        (plan, fraction) = group.compute_cartesian_path(
            waypoints,
            0.01,
            0.0
        )
        plan = group.retime_trajectory(moveit_commander.RobotCommander().get_current_state(), 
                                       plan, 
                                       velocity_scaling_factor)
        group.execute(plan, wait=True)

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Thanks! it works

Ranjit Kathiriya ( 2021-04-15 05:04:04 -0500 )edit

moveit_robot_state = moveit_commander.RobotCommander().get_current_state()

lorepieri ( 2021-05-27 06:46:13 -0500 )edit

Also speed is actually the speed scaling factor.

lorepieri ( 2021-05-27 06:48:44 -0500 )edit

Updated my answer to be more generic. as @lorepieri commented.

crnewton ( 2021-05-31 04:22:01 -0500 )edit

Hi, do you know how to implement this in c++? I looked into the MoveGroupInterface class here here but couldn't find a retime_trajectory function

robra ( 2023-02-28 05:18:13 -0500 )edit

retime_trajectory is only available in rospy, no corresponding function in cpp

Jiang Zizhen ( 2023-04-18 20:12:51 -0500 )edit

Thanks, but just for reference, time parameterization can be implemented in c++ using the corresponding classes here and therefore the retime_trajectory is not needed in c++

robra ( 2023-04-19 03:55:16 -0500 )edit

hi, how to use it, could you please give a template code!

Jiang Zizhen ( 2023-04-19 04:23:51 -0500 )edit

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