I tested this a little bit last week, see my initial work here. This made our UR5e jog smoother but still not perfect
After discussion with @nbbrooks, we think the correct solution is to finish porting the UR velocity hardware interface and to use velocity controllers instead of position controllers. He was going to follow up and get an ETA on that
In the mean time, the linked branch was working on our hardware for smoother motion
I tested this a little bit last week, see my initial work here. This made our UR5e jog smoother but still not perfect
After discussion with @nbbrooks, we think the correct solution is to finish porting the UR velocity hardware interface and to use velocity controllers instead of position controllers. He was going to follow up and get an ETA on that
In the mean time, the linked branch was working on our hardware for smoother motion