Attention: Answers.ros.org is deprecated as of August the 11th, 2023. Please visit robotics.stackexchange.com to ask a new question. This site will remain online in read-only mode during the transition and into the foreseeable future. Selected questions and answers have been migrated, and redirects have been put in place to direct users to the corresponding questions on Robotics Stack Exchange. Additional details are available here.

Kuka Youbot MoveIt lack of Velocity or Acceleration

asked 2022-05-16 06:45:40 -0500

inperator_germanicus
11 ●1 ●4

Hi,

I am currently using a physical Kuka Youbot to plan and execute a Cartesian path via move it.

Upon execution, the Youbot driver gives an error stating the plan is malformed, and needs to provide 5 joint commands, as well as velocity and acceleration commands.

Upon investigating the plan generated by MoveIt, it seems joint commands are given, but the commands for velocity and acceleration are empty.

Has anyone experienced this before, and does anyone know how to fix this?

edit retag flag offensive close merge delete

add a comment

1 Answer

Sort by » oldest newest most voted

answered 2022-05-17 17:16:56 -0500

danzimmerman
337 ●3 ●25 ●13

I don't have a lot of direct experience handling the output of MoveIt! yet but I'd look at this:

https://answers.ros.org/question/3624...

and this:

https://ros-planning.github.io/moveit...

From the second link:

MoveIt can support different algorithms for post-processing a kinematic trajectory to add timestamps and velocity/acceleration values. Currently there are three available by default in MoveIt:

Iterative Parabolic Time Parameterization

Iterative Spline Parameterization

Time-optimal Trajectory Generation

edit flag offensive delete link

add a comment

Question Tools

1 follower

Stats

Asked: 2022-05-16 06:45:40 -0500

Seen: 66 times

Last updated: May 17 '22

Kuka Youbot MoveIt lack of Velocity or Acceleration edit

1 Answer

Question Tools

Stats

Related questions

Kuka Youbot MoveIt lack of Velocity or Acceleration