To increase the influence of the pid control I use control strategy 3 and set all but the position control to 0.
Now when I set the velocity and acceleration limits in the joint_limits.yaml file very high the trajectory controller prematurely "succeeds" the trajectory movement.
I use the ROS JointTrajectoryController, but for normal ROS controllers there is a goal constraint which specifies the goal position tolerance, as seen on the site: http://wiki.ros.org/joint_trajectory_controller .
For the Hebi controllers I can't seem to find such a setting, so my question is how to specify such a constraint for hebi controllers.
Thanks in advance
Sorry for the slow reply!
We looked into this, and believe we know what is happening here. I just want to clarify our understanding of the issue.
It looks like you are using our MoveIt integration:
https://github.com/HebiRobotics/hebi_cp ... c/kits/arm
https://github.com/HebiRobotics/hebi_cp ... t_node.cpp
and you are sending the FollowJointTrajectory action message, as linked from your post and further documented here:
http://docs.ros.org/api/control_msgs/ht ... ctory.html
The current implementation we currently have of the FollowJointTrajectory action is ignoring the following fields:
Code: Select all
JointTolerance path_tolerance JointTolerance goal_tolerance duration goal_time_tolerance
Thanks for bringing up this issue -- we are getting this implemented, and will have a fix pushed out ASAP.