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2018-07-26 10:39:44 -0500 received badge  Good Question (source)
2018-07-26 03:17:05 -0500 marked best answer Jerky movements of UR10 robot with ur_modern_driver and MoveIt

We have a problem with sometimes jerky moves of UR10 (and UR3 before).

We are controlling our UR10 robot via MoveIt + ur_modern_driver combination. All works generally well, trajectories are planned and moves are smoothly executed. We have however problem that quite often the move has some "jerky" slow-downs/pauses. Robot slows down for a brief moment and then catches up - the moves are then not smooth. It does not happen continuously - generally move is smooth, but with longer moves it can happen once/twice during path execution.

It seems that the modern driver uses 125Hz interface and generates quite a lot of traffic, which we suspect might be the cause. Seems that jerkyness increses if we run some CPU-intensive/rostopic intensive ROS nodes (like gazebo). We are running the whole ROS environment in a docker container with --network=host and --privileged on fairly fast 8 core machine with plenty of RAM. We had similar problems with UR3 before.

We have not yet deeply investigated (we are going to) - but before we do, maybe someone had similar problems and know possible reasons ?

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2017-12-05 14:40:42 -0500 commented answer Jerky movements of UR10 robot with ur_modern_driver and MoveIt

I am going to suggest some improvements and findings in the refactored modern driver github repo. After reviewing and un

2017-12-05 14:38:30 -0500 commented answer Jerky movements of UR10 robot with ur_modern_driver and MoveIt

@v4hn - the refector by Simon Rasmussen is definitely an improvement. I tested it and on top of being way more readable

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2017-12-03 13:52:20 -0500 commented answer Jerky movements of UR10 robot with ur_modern_driver and MoveIt

Thanks @v4hn! I've been reading through the code this weekend (5 hours by train today ;) ) and all the issues/ pull requ

2017-12-03 13:48:16 -0500 commented question Jerky movements of UR10 robot with ur_modern_driver and MoveIt

Thanks! I spent some time reviewing the issues and the pull requests/discussions and have some things to explore (the co

2017-11-28 18:53:09 -0500 asked a question Jerky movements of UR10 robot with ur_modern_driver and MoveIt

Jerky movements of UR10 robot with ur_modern_driver and MoveIt We have a problem with sometimes jerky moves of UR10 (and