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Kuka Youbot MoveIt lack of Velocity or Acceleration

asked 2022-05-16 06:45:40 -0600

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?

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answered 2022-05-17 17:16:56 -0600

danzimmerman
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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

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Asked: 2022-05-16 06:45:40 -0600

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Last updated: May 17 '22

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Kuka Youbot MoveIt lack of Velocity or Acceleration