Graphical tool to check controller performance (MoveIt, ros_control)?

asked 2021-05-04 02:02:24 -0500

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Hi,

is there a graphical tool to plot current joint_states vs desired joint states which are output by moveit? I want to visually evaluate the performance of the hardware controller / check if my velocity or acceleration params are reasonable. Is rqt_plot the best choice? And what would be the topic for the desired joint states?

Thanks,

Chris

answered 2021-05-04 04:21:23 -0500

gvdhoorn
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Is rqt_plot the best choice?

PlotJuggler is probably easier.

And what would be the topic for the desired joint states?

For the OotB set of controllers from ros_control, you could check the state topic.

Those typically carry messages from control_msgs, which include JointControllerState, JointTrajectoryControllerState and PidState.

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Thanks, when i use Gazebo, i can check the state from my position controllers (desired vs acutal), when i do plain moveit and use the fake_controller, there is no such state, is there a way to check in vanilla moveit?

cschindlbeck ( 2021-05-04 08:24:48 -0500 )edit

when i do plain moveit and use the fake_controller, there is no such state, is there a way to check in vanilla moveit?

Afaik, fake_controller doesn't lead to anything actually controlling anything. It's just kinematic play-out with a 'perfect robot' model. There are no dynamics.

You could check the JointState messages published by it (IIRC it does that), but that would not really tell you anything I believe. Just what the state of the play-out is.

gvdhoorn ( 2021-05-04 08:32:49 -0500 )edit

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Graphical tool to check controller performance (MoveIt, ros_control)?

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