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CommonplaceRobotics / iRC_ROS

ROS2 packages for the igus Robot Control
Apache License 2.0
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Starting examples via launch files causes jerky motion #3

Closed cpr-fer closed 1 year ago

cpr-fer commented 1 year ago

When starting the pick_and_place or pick_and_place_vacuum example via their respective launch files the robot starts the process with a jerky movement. This is likely caused by the initialisation process not being completly done before the MoveIt interface accepts the path.

It could be an issue with MoveIt starting before the controllers are ready and/or the example nodes not waiting for the MoveIt startup being done.

cpr-fer commented 1 year ago

While this issue is closed, replacing the waiting for a set amount of time with waiting for a reply from MoveIt would be preferable for the future.