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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 |