Strange noises and barely noticable jerky movement when using test_controller.py about franka_ros_interface HOT 2 OPEN

Hi,
I will try your suggestions and will inform you if and what fixes the issue with the Panda robot.

Thanks for the quick reply!

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Hi,
Yes, this happens for me as well, and it is because (as far as I can tell) the trajectory is not smooth enough. I found these effects can be reduced by smoothening the trajectory further, or providing trajectory points that are more dense (subsequent points close to each other), or even changing the control rate. I would suggest using the impedance controller instead if you want to command positions (comment out line 50 and uncomment line 49), or use torque or velocity controllers.

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