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DENSORobot / denso_robot_ros

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execution slow #18

Closed woshigeshabiaaa closed 5 years ago

woshigeshabiaaa commented 5 years ago

I am using this project with a denso robot. I find that when i switcth to slave mode and use moveit to control the robot, it is visibilly much slower than i use the WincapsIII to execute some trajectories. I am using default velocity factors and set to 100% external speed. How can I speed up?

ToshitakaSuzuki commented 5 years ago

Could you try to do the procedures in the following site? http://wiki.ros.org/denso_robot_ros/AcquireVelAcc

woshigeshabiaaa commented 5 years ago

Could you try to do the procedures in the following site? http://wiki.ros.org/denso_robot_ros/AcquireVelAcc

yeah! it works! thanks! you saved a lot of my times, sincerely gratitude for you! I once thought that if I used the URDF converter, it will autonomously export the right vel/acc limits. However it doesn't. I suggest modifying the tutorial to make it explicitly two steps.

ToshitakaSuzuki commented 5 years ago

yeah! it works! thanks! you saved a lot of my times, sincerely gratitude for you!

It's my pleasure!

I suggest modifying the tutorial to make it explicitly two steps.

The explanation that parameters in URDF are dummy is already written in the tutorial (Please refer to "4.Setting speed/acceleration parameters"). http://wiki.ros.org/denso_robot_ros/Tutorials/How%20to%20control%20an%20RC8%20with%20MoveIt%21