[Question]Speed of JointTrajectoryActionServer about jaco-arm-pkgs HOT 5 CLOSED

Hi Julius,

that should not be hard to fix. First let me ensure I understood this correctly: You have a joint trajectory with two points, which are not far from each other (so a small step). So, you keep frequently re-sending 2-point trajectories at each iteration in your loop?
What is the duration specified in-between the two trajectory points, is it 0.5 seconds, or something else?

Jennifer

from jaco-arm-pkgs.

Hi Jennifer,

thanks for your help. I solved the problem.... After reading your comment it became clear and i saw that i defined the duration in-between the two points to 0.5s. I changed the value and now it works perfectly.

Sorry for wasting your time ;) This can be closed.

Julius

from jaco-arm-pkgs.

Hi Julius,

glad you solved it. Just wanted to add one comment: If you are sending small trajectories with only two points, it's probably better to control the arm directly with JointState messages (on topic /jaco/joint_control) from within your loop. You don't need the overhead of a joint trajectory with such small steps, as the execution should be accurate enough at 25Hz (the only exception being joint turns in the wrong direction, which is unlikely at such small steps, and this can only be prevented by using joint velocities anyway).
Let me know if I should give you more details on controlling with JointState messages, that's not detailed in the tutorials.

Regards
Jennifer

from jaco-arm-pkgs.

Hi Jennifer,

thank you for your comment. I think, i will try it later. I just tested how much compatible our program is, without changing so much code (specific topics etc.). I do not know if the driver of the UR5 supports direct control with JointStates but i will look into it.

Thank you very much!

Julius

from jaco-arm-pkgs.

Ah ok that makes sense. Good luck with your work!

Jennifer

from jaco-arm-pkgs.