andrey-pr
commented
1 year ago Here is my code of it:
joint_limits = {"robot_description_planning": load_yaml(
"robol_moveit_model", "config/joint_limits.yaml"
)}main_node = Node(
package="my_node",
executable="my_node",
output="screen",
parameters=[
...
joint_limits
...
],
)
...
run_move_group_node = Node(
package="moveit_ros_move_group",
executable="move_group",
output="screen",
parameters=[
robot_description,
robot_description_semantic,
kinematics_yaml,
joint_limits,
ompl_planning_pipeline_config,
trajectory_execution,
moveit_controllers,
planning_scene_monitor_parameters,
],
)
...
rviz_node = Node(
package="rviz2",
executable="rviz2",
name="rviz2",
output="log",
arguments=["-d", rviz_config_file],
parameters=[robot_description, robot_description_semantic,
ompl_planning_pipeline_config, kinematics_yaml, joint_limits],
)joint_limits.yaml:
joint_limits:
joint1:
has_velocity_limits: true
max_velocity: 1.047132101
has_acceleration_limits: true
max_acceleration: 1.0
henningkayser
RobinHeitz
github-actions[bot]
Description
In my moveit config package, there is an auto-generated file 'joint_limits.yaml'. If i change the values (e.g. factor 10 in velocity), there is no change in the trajectory/ movement of the robot arm in RViz - I expect it to be factor 10 slower. It's probably not an error, but I cannot find proper documentation to setup a MoveGroup-Node correctly to use the joint_limits.yaml (and further down the road: Change velocity and acceleration scaling factors with parameters from a launch file).
Your environment
Steps to reproduce
Launching MoveGroup-Node
Using MoveGroupInterface:
The terminal window outputs _move_group-4] [WARN] [1684833457.407691711] [moveit_trajectory_processing.time_optimal_trajectory_generation]: Joint acceleration limits are not defined. Using the default 1 rad/s^2. You can define acceleration limits in the URDF or jointlimits.yaml. indicating that joint_limits.yaml is not loaded at all, since there are joint limits defined:
Expected behaviour
Based on documentation, I expect that 1) the file joint_limits.yaml - file is loaded automatically and overrides (maybe existing) joint limits from the urdf. 2), if changes are made to this file, the trajectory/ movement itself in rviz (and of course the real robot too) should represent these changes.
Actual behaviour
Unfortunately, there is no change in the speed whatsoever.