Real Arm shaking using Moveit Servo publish_joint_velocities

[miki8498]

Description

At the moment I'm working with an UR5e and try to implement the Moveit Servo using the "publish_joint_velocities" option. Starting from a desired cartesian pose, I implemented a PID to obtain a TwistStamped message to send to my servo topic. In simulation everything works well, but when i try the code on my real arm, it starts shaking. To understand what was happening, while keeping the real arm still, i considered a small movement along one axis as my desired pose (so that my linear velocity along that axis would have kept being constant) and used a fake topic as "command_out_topic" in order to plot the result of the servo node.

I don't know if i should set some values or something else to avoid this oscillation

This is how i defined the servo params file

Your environment

• ROS Distro: Humble
• OS Version: e.g. Ubuntu 22.04

Expected behaviour

I expected to obtain, if not really a constant value on the joints, one with a really small vibration

Actual behaviour

I obtained a huge oscillation on the resulting joint velocities (the one in figure).

[miki8498]

Uploaded the same image of my servo params file twice, sorry

[github-actions[bot]]

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