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ros-industrial / industrial_core

ROS-Industrial core communication packages (http://wiki.ros.org/industrial_core)
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Added in better simluation when velocities are provided for trajectory #212

Closed pbeeson closed 6 years ago

pbeeson commented 6 years ago

The current ROS-I sim just linearly interpolates as a simulator. When velocities are provided in addition to positions, a better approach can be used that more accurately reflects the real robot motion.

See Section 2.7.2 from here: http://ros.informatik.uni-freiburg.de/roswiki/attachments/motoman_driver/MotoRos_EDS.pdf

This pull request uses this motion model when velocities are present, and defaults to the linear interpolation when they are not. This has been tested and works well.

pbeeson commented 6 years ago

The motion model used assumes linear acceleration between waypoint.

shaun-edwards commented 6 years ago

@pbeeson, thanks for the addition. +1 from me. @gavanderhoorn, do you want to have a look? Otherwise, I'll merge in a couple of days.

gavanderhoorn commented 6 years ago

Late, but :+1: .

Thanks @pbeeson.