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ros-industrial / staubli

ROS-Industrial Staubli support (http://wiki.ros.org/staubli)
Apache License 2.0
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Switch all support packages to nominal velocity limits #35

Open gavanderhoorn opened 4 years ago

gavanderhoorn commented 4 years ago

@marshallpowell97 wrote (in https://github.com/ros-industrial/staubli_val3_driver/issues/2#issuecomment-584335689):

From what I've been able to gather, the maximum values are a "best case" scenario, and cannot be expected from multiple joints at the same time. The motion descriptor only has a singular "vel" parameter which is applied to the joint that is moving the furthest and all of the other joints will move at a percentage of that. So using the nominal velocities would be my recommendation.