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Hi all,
I'm currently testing on PR2, with the "move_arm to joint position" client, the motion's stability when stopping. In order to find the highest speed which ensure a smooth stop, I need to change arm's speed. Does anyone knows how to do that ?
Guido
Hi Guido,
pr2_arm_navigation/pr2_arm_navigation_config/config/joint_limits.yaml contains the actual velocity and acceleration limits that are used. If you are using the trajectory filter (which you will be if you are using the launch files in pr2_3dnav), it will use these values to determine the maximum velocities and set appropriate times for each waypoint in the trajectory so that these limits are always obeyed.
The "Moving the arm through a Cartesian pose trajectory" tutorial does not use the trajectory filter though. It assigns the times to each waypoint individually. It computes the time between waypoints assuming a linear segment between waypoints.
The behavior of the underlying joint trajectory controller is described here: http://www.ros.org/wiki/robot_mechanism_controllers/JointSplineTrajectoryController
Hope this helps,
Hi,
If you're using the pr2 arms, I think those limits should be in the joint_limits.yaml file. Not sure which of those 3 is used but you should be able to check which one is loaded in your launch file. - trajectory_filters/trajectory_filter_server/config/joint_limits.yaml - pr2_arm_navigation/pr2_arm_navigation_tutorials/config/joint_limits.yaml - pr2_arm_navigation/pr2_arm_navigation_config/config/joint_limits.yaml
Cheers,
Asked: 2011-04-07 20:30:16 -0500
Seen: 699 times
Last updated: Apr 08 '11
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