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exceed threshold error when send :angle-vector-sequence #217

Closed wkentaro closed 9 years ago

wkentaro commented 9 years ago

How can I avoid this error?

Should I calculate the speed by my own?

k-okada commented 9 years ago

Need to find nice scale parameters? @aginika

aginika commented 9 years ago

@wkentaro When you send the same trajectory more slowly, does the error disappear? If so, one solution is to change the scale paramter. Here , https://github.com/jsk-ros-pkg/jsk_robot/blob/master/jsk_baxter_robot/baxtereus/baxter-interface.l#L233 .

This paremeter will affect to this time calculating function https://github.com/jsk-ros-pkg/jsk_pr2eus/blob/master/pr2eus/robot-interface.l#L231

wkentaro commented 9 years ago

yeah, by changing the scale the error disappears. I mean I'd like to set the scale automatically. Is that difficult?

More specifically, Baxter sets fold pose before move arm to target bin. When moving to fold-pose.the start angle vector is different in different situations.

2015年4月21日火曜日、Yuto Inagakinotifications@github.comさんは書きました:

@wkentaro https://github.com/wkentaro When you send the same trajectory more slowly, does the error disappear? If so, one solution is to change the scale paramter. Here , https://github.com/jsk-ros-pkg/jsk_robot/blob/master/jsk_baxter_robot/baxtereus/baxter-interface.l#L233 .

This paremeter will affect to this time calculating function https://github.com/jsk-ros-pkg/jsk_pr2eus/blob/master/pr2eus/robot-interface.l#L231

— Reply to this email directly or view it on GitHub https://github.com/start-jsk/2014-semi/issues/217#issuecomment-94791825.

和田 健太郎 / Kentaro Wada http://wkentaro.com http://www.wkentaro.com

k-okada commented 9 years ago

we need to find better scaling parameter, change them automatically may difficult. or find parameter that works for 90% and create detector to fail the motion and resend the angle-vector with slower parameter.

◉ Kei Okada

On Tue, Apr 21, 2015 at 11:58 PM, Kentaro Wada notifications@github.com wrote:

yeah, by changing the scale the error disappears. I mean I'd like to set the scale automatically. Is that difficult?

More specifically, Baxter sets fold pose before move arm to target bin. When moving to fold-pose.the start angle vector is different in different situations.

2015年4月21日火曜日、Yuto Inagakinotifications@github.comさんは書きました:

@wkentaro https://github.com/wkentaro When you send the same trajectory more slowly, does the error disappear? If so, one solution is to change the scale paramter. Here ,

https://github.com/jsk-ros-pkg/jsk_robot/blob/master/jsk_baxter_robot/baxtereus/baxter-interface.l#L233 .

This paremeter will affect to this time calculating function

https://github.com/jsk-ros-pkg/jsk_pr2eus/blob/master/pr2eus/robot-interface.l#L231

— Reply to this email directly or view it on GitHub <https://github.com/start-jsk/2014-semi/issues/217#issuecomment-94791825 .

和田 健太郎 / Kentaro Wada http://wkentaro.com http://www.wkentaro.com

— Reply to this email directly or view it on GitHub https://github.com/start-jsk/2014-semi/issues/217#issuecomment-94830653.

wkentaro commented 9 years ago

Okay, I will set the param after the tests.