Not able to change the speed of joints of xArm6 with Moveit

[hmiranda-queiros]

Hello,

I am controlling an xArm6 with MoveIt on the humble branch by using your xarm_planner package. However even after increasing the default values of the file xarm_moveit_config/xarm6/joint_limits.yaml or by increasing the maxV_scale_factor in the xarm_planner/src/xarm_planner.cpp file, I was not able to increase the speed or the acceleration of the real robot. I have this problem for all the types of path planners, i.e Carthesian, Pose and Joint targets. Could you please tell what values I need to change in order to increase the acceleration and the speed of the xArm6 when it is controlled with MoveIt. Thanks in advance for your help.

[vimior]

@hmiranda-queiros Sorry, the maxV_scale_factor in xarm_planner is only set in planCartesianPath, so it doesn't take effect. You can get the latest xarm_ros2 code, and then define max_velocity_scaling_factor and max_acceleration_scaling_factor in xarm_planner.cpp, you can adjust the speed and acceleration by modifying these two values.

[hmiranda-queiros]

Hello @vimior, thank you very much for your help and sorry for the late reply. I tried it today and now it works perfectly for the planJointTarget, however it does not have any influence on the planCartesianPath , do you have any idea why and how to solve this ? Thanks

[hmiranda-queiros]

Hello again, I was able to change the speed of planCartesianPath by directly modifying the joint_limit.yaml of the xArm6 in the xarm_moveit_config package, as I read on the doc that sadly max_velocity_scaling_factor and max_acceleration_scaling_factor do not have effect on the planCartesianPath in MoveIt. Thank you for your help.