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sjahr / moveit2

:robot: MoveIt for ROS 2.0, Beta
https://moveit.ros.org/
BSD 3-Clause "New" or "Revised" License
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Move to current ros2_control launching and controller #1

Closed AdamPettinger closed 2 years ago

AdamPettinger commented 3 years ago

Description

A small one, just launches the panda controller like the rest of the MoveIt demos and tutorials do. This involved switching the output from Servo.

I also played around a little bit with the Servo collision parameters - making the collision checking run faster and letting it get closer to objects before it considered a collision dangerous. I think (?) it had a little improvement on using Servo for the local planner, let me know what you think.

One note, now the demo_controller.yaml config file is very close to the one in the Panda moveit config package that the other demos use, so unless you really want that 500 hz rate, maybe switch the launch files to point to the other file and delete this one?

sjahr commented 3 years ago

I also played around a little bit with the Servo collision parameters - making the collision checking run faster and letting it get closer to objects before it considered a collision dangerous. I think (?) it had a little improvement on using Servo for the local planner, let me know what you think.

Yes, that sounds reasonable, I think it is useful when the robot moves slower near potential collision objects but it should not stop too quickly. Is it possible to configure this behavior with the currently existing parameters? (Decelerate early but slower in terms of the degree of deceleration)

One note, now the demo_controller.yaml config file is very close to the one in the Panda moveit config package that the other demos use, so unless you really want that 500 Hz rate, maybe switch the launch files to point to the other file and delete this one?

I've experienced jerky simulated motions and thought it is related to the controller frequency. Did the demo_controller.yaml file worked for you?

AdamPettinger commented 3 years ago

Is it possible to configure this behavior with the currently existing parameters? (Decelerate early but slower in terms of the degree of deceleration)

Unfortunately, no. I think the best way to handle this might be to leave Servo collision checking enabled (but very tight bounds), and then do some other collision checking in the local planner that triggers a global re-plan with a larger threshold (so we never get to Servo collision handling hopefully)

Did the demo_controller.yaml file worked for you?

It did, not too jerky. The annoying thing is the Servo slowing way down near collision and making the local planner take a long time to get away from an object

sjahr commented 2 years ago

Closed this PR since it got too stale