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I made circle code by moveit.
The waypoint route seems to be generating just fine.
but...a stuttering motion is created.
link text Do you know why this happens?
Please help me...
The position_controllers are too simple and in my opinion only good for initial testing. My experience with position_controllers is that they ramp all the joint velocities down to 0 at each waypoint. This causes the stuttering movement you see.
If your arm supports either the velocity_controllers or effort_contollers AND your JointTrajectory message specifies a joint velocity for each waypoint AND you set reasonable PID values for the control loop, the overall movement should be much smoother.
Asked: 2022-07-01 03:34:52 -0500
Seen: 58 times
Last updated: Jul 09 '22
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Are you using the
ros_controlsubsystem? If so, which joint controller plugin are you using?Refer to section 2 in http://wiki.ros.org/ros_control
Currently I'm using position_controllers/JointTrajectoryController