At present, the node reads parameters from the unit and writes them to the parameter server. The factory defaults appear to be way too aggressive on both speed and acceleration. Attempting to command the claimed maximum speed has the steppers skipping all over the place.
Instead, the top speed and acceleration should be specified in by rosparams and written into the device on startup. Sane, experimentally determined values should be set as the defaults in the driver.
At present, the node reads parameters from the unit and writes them to the parameter server. The factory defaults appear to be way too aggressive on both speed and acceleration. Attempting to command the claimed maximum speed has the steppers skipping all over the place.
Instead, the top speed and acceleration should be specified in by rosparams and written into the device on startup. Sane, experimentally determined values should be set as the defaults in the driver.