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Moveit servo with custom end effector gives jerky movement on real robot (UR5e) #3166
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I don't know the answer but I'm curious if your computer is stressed during the testing. If you run My initial guess is latency due to |
I'm using a very high end PC. When I remove the mesh (stl file) from the urdf, the robot seems to move better :/ Any thoughts wh? |
That's a good hint. You can simplify the mesh with Meshlab. It's very easy to do. Just open the stl in Meshlab then Filters->Simplification. You can also turn down the collision checking frequency here: https://github.com/ros-planning/moveit/blob/a63580edd05b01d9480c333645036e5b2b222da9/moveit_ros/moveit_servo/config/ur_simulated_config.yaml#L58 |
But the problem occurs while running on the real robot. On simulation it works well. (I have also tried disabling collision which didnt help) |
@nihalar , |
@AndyZe Hi Andy, I am trying to run moveit servo with Noetic for a UR5e. git clone -b melodic-devel https://github.com/ros-industrial/universal_robot.git src/universal_robot Neither worked and there is no ee_link defined in the URDF files. There is only a link called flange. Do you know which package @nihalar used? Coz he mentioned The robot moves smooth when providing continuous constant velocity using the original URDF provided by Universal Robots (Velocity passed to ee_link). Maybe I can give that package a go? Thanks a lot. Cheers |
I used https://github.com/UniversalRobots/Universal_Robots_ROS_Driver for driver. |
@nihalar Hi, yes, please. I'd love to give it a go. Thanks a million. My email is stevensu1838@gmail.com. Cheers |
@nihalar Can you please share how you set it up? Really appreciate it. Thanks a lot |
Description
I'm testing moveit servo with the actual Ur5e robot. The robot moves smooth when providing continuous constant velocity using the original URDF provided by Universal Robots (Velocity passed to ee_link).
The next test was to add an end effector. The end effector was added to the urdf (but not to the actual robot). Two different groups are defined in moveit. "Arm" group contains the joints of Ur5e and the end effector group which contains the links of the new end effector (All fixed links). Then I try to move the robot using moveit servo (passing velocity commands to ee_link, part of "arm" group). This time the robot movement is jerky. What Am I doing wrong?
Please note: The end effector links are added to urdf only, the actual robot does not have those links attached.
Help would be much appreciated. Thanks :)
Your environment
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