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Trajectory filter computation time

Hi I'm trying to create a package for controlling industrial robots on a desktop workspace.

Currently, I'm modifying planning_environment and move_arm_warehouse for my work. Everything works as expected except the trajectory_filter_server.

From my experiment, if I input a small displacement planned path (2- 3 points) to the filter server (e.g. end effector was commanded to move 1 - 2 cm.) the filter server will not finish the computation until timeout. The filter, however, works fine with large displacement target (e.g > 5 cm)

I would like to ask if anyone has experienced this problem? Any suggestion will be very thankful.

If any clarification is needed please let me know.

Trajectory filter computation time

Hi Dear All,

I'm trying to create a package for controlling industrial robots on a desktop workspace.

Currently, I'm modifying planning_environment and move_arm_warehouse for my work. Everything works as expected except the trajectory_filter_server.

From my experiment, if I input a small displacement planned path (2- 3 points) to the filter server (e.g. end effector was commanded to move 1 - 2 cm.) the filter server will not finish the computation until timeout. The filter, however, works fine with large displacement target (e.g > 5 cm)

I would like to ask if anyone has experienced this problem? Any suggestion will be very thankful.

If any clarification is needed please let me know.

ROS version Fuerte on Ubuntu 12.04

Trajectory filter computation time

Dear All,

I'm trying to create a package for controlling industrial robots on a desktop workspace.

Currently, I'm modifying planning_environment and move_arm_warehouse for my work. Everything works as expected except the trajectory_filter_server.

From my experiment, if I input a small displacement planned path (2- 3 points) to the filter server (e.g. end effector was commanded to move 1 - 2 cm.) the filter server will not finish the computation until timeout. The filter, however, works fine with large displacement target (e.g > 5 cm)

Filter name: CubicSplineShortCutterFilterJointTrajectoryWithConstraints

I would like to ask if anyone has experienced this problem? Any suggestion will be very thankful.

If any clarification is needed please let me know.

ROS version Fuerte on Ubuntu 12.04

Trajectory filter computation time

Dear All,

I'm trying to create a package for controlling industrial robots on a desktop workspace.

Currently, I'm modifying planning_environment and move_arm_warehouse for my work. Everything works as expected except the trajectory_filter_server.

From my experiment, if I input a small displacement planned path (2- 3 points) to the filter server (e.g. end effector was commanded to move 1 - 2 cm.) the filter server will not finish the computation until timeout. The filter, however, works fine with large displacement target (e.g > 5 cm)

Filter name: CubicSplineShortCutterFilterJointTrajectoryWithConstraints

I would like to ask if anyone has experienced this problem? Any suggestion will be very thankful.

If any clarification is needed please let me know.

ROS version Fuerte on Ubuntu 12.04

Update: I added the following check to my code to

if(filter_req.trajectory.points.size() < 10)
{
  ROS_INFO_THROTTLE(1.0, "Hacked for short path");
  filter_req.allowed_time = ros::Duration(0.01);
}
else
  filter_req.allowed_time = ros::Duration(0.1);