UR5 Jerky Movement

[wmy101]

Hi,

I am using moveit motion plan service and simply execute the path planned on a UR5. However, there are a lot of jerky movements, in severe cases, the robot's protective stop gets triggered. This occurs regardless the path was computed from getmotionplan or computecartesianpath. I have tried playing with the max_velocity and max_accelerations in the joints.yaml but not much luck. Even with acceleration at 0.05...

[gavanderhoorn]

Just making sure: are you using ur_driver or ur_modern_driver? And what controller is this?

Also: perhaps related (but only if using ur_modern_driver): ros-industrial-attic/ur_modern_driver#132.

[gavanderhoorn]

Closing this due to no activity.

Again: not because I don't believe there is an actual issue, but because ur_driver should not be used and in the case it isn't being used other issue trackers are more appropriate.

If you feel this is not correct @wmy101, then please comment.