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Allow runtime adjustment of MOVE_SPEED and MOVE_CNT #71

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JeremyZoss opened this issue Feb 10, 2014 · 1 comment
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Allow runtime adjustment of MOVE_SPEED and MOVE_CNT #71

JeremyZoss opened this issue Feb 10, 2014 · 1 comment

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@JeremyZoss
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@JeremyZoss JeremyZoss commented Feb 10, 2014

The TPE program ros_movesm.tp uses register values for key motion parameters (speed, continuation-zone). These register values are written by ros_relay.kl every time a new motion message is received, using the values set in MOVE_SPEED and MOVE_CNT constants.

This design ensures that it is difficult to accidentally overwrite these key parameters (a good feature), but requires users to recompile ros_relay.kl to modify the values. Not all users will have access to RoboGuide (especially in deployed installations), so this modification may be difficult.

A better design might be to only override the register values if they are "dangerous" (e.g. out-of-range). This would allow users to adjust the parameters without the use of a KAREL compiler.

The ROS wiki tutorial page should also be updated to document the use of these parameters. In the current implementation, ROS MoveIt commands will often timeout due to the large disparity between MoveIt's assumed motion speed (100%) and the default MOVE_SPEED value (20%). Tweaking either MoveIt or MOVE_SPEED to harmonize these expectations is one of the first steps when deploying a Fanuc application on a "real robot".

@gavanderhoorn gavanderhoorn added comp:relay and removed prio:minor labels Feb 10, 2014
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@gavanderhoorn gavanderhoorn commented Feb 10, 2014

All true, however configuring MOVE_SPEED only makes sense as long as ros_relay doesn't use commanded velocities (#1). Making MOVE_CNT user configurable is certainly feasible.

Thanks for reporting.

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