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[ros_control/joint_trajectory_controller] Smooth motion #59

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fmessmer opened this issue Sep 24, 2015 · 1 comment

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fmessmer commented Sep 24, 2015 •

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@ipa-fmw @ipa-nhg @ipa-mdl @ipa-tif

Evolving from https://github.com/ipa320/cob_common/pull/165#issuecomment-141183287 and from observations with real robot, some movements triggered through sss are still not very smooth. In particular this can be observed when:

pressing "Stop" during a motion (e.g. arms home-side)
trajectories with more than one trajectory point are sent (i.e. wave)
the velocity profile at the beginning of the motion is quite "sharp"

Thus, we should:

recheck acceleration limits for the components
re-view joint_trajectory_controller strategy for cancle_goal()
re-view joint_trajectory_controller interpolation strategy

Contributor Author

fmessmer commented Feb 19, 2016

This got to my attention again after fixing the stop button on the dashboard in ipa320/cob_robots#431

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