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doosan-robotics / doosan-robot

ROS for Doosan Robot
BSD 3-Clause "New" or "Revised" License
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Speed scalings in moveit config packages are not working #175

Open bxtbold opened 11 months ago

bxtbold commented 11 months ago

Velocity and acceleration scalings from joint_limits.yaml are not working.

I have inspected dsr_control and found out that the driver uses a trajectory callback function to send position commands instead of using PositionJointInterface, which seems to cause this issue.

Is it possible to fix the driver to fix this issue?

doosan-robotics commented 8 months ago

Hello @bxtbold ,

We are aware of the problem. Therefore, we plan to release an improved version of this part in the soon-to-be-updated noetic package. Thank you for your understanding.

bxtbold commented 8 months ago

Thank you for your response. Looking forward to using the updated package. Please mention this issue to a PR or commit when it is resolved, so others who are struggling with the same issue can look up :)

doosan-robotics commented 6 months ago

Hello @bxtbold ,

Thank you for your patience. I've updated the joint limit feature and added it. Please review it on the main branch.