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TechmanRobotInc / tmr_ros2

TM Robots supporting ROS2 drivers and some extended external applications. (experimental) (not support the new TM S-Series)
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Robot speed is low and not adjustable when using MoveIt2 #41

Open mehradmrt opened 3 months ago

mehradmrt commented 3 months ago

I am using MoveIt2 interface to run the TM5 robot. Setting max_velocity_scaling_factor does not change the robot's speed. I have struggled with robot speed and don't know if the problem is coming from the robot driver packages or moveIt. Using the demo packages (no Moveit) the robot velocity is correctly set and executed.

Will appreciate a solution or a possible workaround to temporarily resolve the issue. I am mainly working on the foxy version but also tested it on humble and ran into same issues.

okvik commented 3 months ago

When controling the robot with MoveIt you may want to set the TM project to always run at 100% speed, and then scale that for each planned motion using MoveIt interfaces like setMaxVelocityScalingFactor() . I don't know whether it is possible to control the project speed externally using SVR or SCT interfaces, I haven't had a need to do it as our entire program is done using MoveIt.

mehradmrt commented 3 months ago

Thanks for your reply @okvik. I did so but still the robot speed does not increase. I developed my code using MoveItCpp and on top of the demo that was already available in the repo, as opposed to MoveGroup where the setMaxVelocityScalingFactor() is available.

okvik commented 3 months ago

I'm sure there's equivalent functionality for velocity scaling with MoveItCpp.