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qcr / armer

The Generic Manipulation Driver Package - Implements a ROS Interface over the robotics toolbox for Python
BSD 3-Clause "New" or "Revised" License
22 stars 7 forks source link

Franka Emika Panda Sometimes Moves Slow #20

Open Mister-Green-020 opened 4 months ago

Mister-Green-020 commented 4 months ago

In both the swift simulation and the physical robot, it seems to randomly slow down when moving to a pose but then speeds up again after reaching the pose goal. It doesn't seem consistent when it slows down and by how much.

I have tried using named poses and the End effector Cartesian position control with a specified movement speed, and it was still randomly slowing down. All goals were reachable in multiple configurations.

MikolajZielinski commented 1 week ago

I encountered the same issue. I use arm/cartesian/servo for cartesian movement to send desired arm poses. I'm sending this information with a 50Hz frequency. Unfortunately, I didn't find any solution for movements in joint space. They are sometimes very slow and sometimes they work as expected.