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ICube-Robotics / iiwa_ros2

ROS2 stack for KUKA iiwa collaborative robots
Apache License 2.0
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servoing jerkiness #22

Closed alandelira closed 1 month ago

alandelira commented 1 year ago

I am using the joy_servo_teleop.launch.py example with a game controller. The iiwa moves however the movement is very jittery. I tried changing the publish_period in iiwa_moveit2_servo_config.yaml and it helped a little, but the motion is still jerky.

Any recommendations? Were you using a real time kernal? I would be glad to provide more details about my setup.

Thank you.

mcbed commented 1 year ago

Hi, we had the same issue when using the joint_trajectory_controller to do velocity control. What we did is to rather send velocity commands to the velocity controller resulting in a smooth motion. If, however, someone knows what could cause the issue I would very much like to have some feedback.

MyZQL commented 1 year ago

We meet the same problem on iiwa7. Has anyone solved it? I suspect that there is something wrong when combining MoveitServo and FRI.

dave-cliftonphotonics commented 1 year ago

i also have this problem