kth-ros-pkg/yumi

Jerky movement with RWS and MoveIt

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Deleted user commented

Hi there,

Thanks for developing this wonderful package!

I have been using the abb_driver for some time and it works well. To use YuMi for visual servoing, recently I switched from the abb_driver to the RWS interface. The action on real YuMi with RWS and MoveIt seems quite jerky than with abb_driver. Meanwhile, I get the warning from MoveIt saying Controller yumi/joint_traj_pos_controller_r failed with error GOAL_TOLERANCE_VIOLATED. I suppose this is because the joints did not get to the target positions eventually.

Could I ask if this is a normal observation? I have tried to use smaller verlocity and acceleration limits, compute_cartesian_path with more waypoints, and change the longest_valid_segment_fraction of OMPL. However, they did not seem to improve the smoothness. Any idea is appreciated! Many thanks.

Deleted user commented

We managed to smooth out the motions by reducing the speed. This can be done by using either the flexpendant or in the RAPID scripts ROS_motion_left.mod and ROS_motion_right.mod.