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Set the maximum speed of robot

asked 2022-11-01 11:20:50 -0600

akumar3.1428 gravatar image

updated 2023-06-18 09:46:02 -0600

lucasw gravatar image

I would like to know how can I set the maximum speed of the robot manipulator. I am currently using set_max_acceleration_scaling_factor(1), is there any function that can help to increase it's speed.

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answered 2022-11-01 14:36:50 -0600

nils_iseke gravatar image

In your ros_package their should be a joint_limits.yaml file, in which the speed limits are set. There you can set the speed limit, or turn of speed limit by setting has_velocity_limits to false. The yaml file should look similar to the following:

    min_position: -2.84
    max_position: 2.84
    has_velocity_limits: true
    max_velocity: 3.141592653589793
    has_acceleration_limits: false
    max_acceleration: 0
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Asked: 2022-11-01 11:20:50 -0600

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Last updated: Nov 01 '22