how can i set joint velocity during execution

asked 2022-03-15 04:59:35 -0500

omeranar1 gravatar image

how can i change velocity and acceleration dynamically

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Please use the search option on this forum first: https://answers.ros.org/question/2512...

crnewton gravatar image crnewton  ( 2022-03-15 07:44:00 -0500 )edit

thank you very much for your answer.
i use "max_velocity_scaling_factor" and "max_acceleration_scaling_factor" before plan execution but i need to change the speed while executing the plan.

omeranar1 gravatar image omeranar1  ( 2022-03-15 14:57:21 -0500 )edit

Sorry I didn't get the from the question. I don't have experience with that. I think you have to look into 'time parameterization' : http://docs.ros.org/en/melodic/api/mo..., https://groups.google.com/g/moveit-us...

crnewton gravatar image crnewton  ( 2022-03-16 02:41:09 -0500 )edit
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