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frankaemika / franka_ros

ROS integration for Franka research robots
https://frankaemika.github.io
Apache License 2.0
361 stars 311 forks source link

joint_velocity_violation #296

Open Jacklove-G opened 2 years ago

Jacklove-G commented 2 years ago

I need Franka to run at a relatively fast angular velocity, but I always get the error “joint_velocity_violation”. I tried turning up the velocity in panda_arm.xacro, limit effort="12" lower="-2.8973" upper="2.8973" velocity="3.6100", but that didn’t work. I also changed kMaxJointVelocity and kMaxRotationalVelocity in rate_limiting.h to a larger size, but it didn’t work. So how can I change it so that Franka can run faster?

andrejpan commented 2 years ago

joint_velocity_violation tells you already, that you are moving too fast. You can not move faster and expect that there will be no joint_velocity_violation anymore.