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One thing I could suggest would be to use trajectories which are as sparse as possible (ie: the least amount of points traversing the largest distances possible).

Look-ahead (or the lack of) is much more of a problem with short segments, as the (Fanuc) motion controller cannot properly look into the future to know which acceleration and velocity profile it can use (so it will use a conservative one). Long segments help, as there would be sufficient distance to start going faster.

re: validation error: you could cheat and increase the velocity limits in the URDF. That's the information the validation method uses you show the error of. I'm surprised the validation even works, because in most cases it fails to parse the limits and just gives up.

That functionality is part of industrial_robot_client. The source should show you how it is implemented. Just search for the error message and it should not be difficult to find.