increase joint angle's resolution

asked 2021-02-03 05:26:50 -0600

31 ●17 ●34 ●38

updated 2021-02-28 23:21:13 -0600

im trying to control robotic arm with using ros,rviz,moveit etc...
i give path for example "a circle".
then i call this function;
move_group.computeCartesianPath( waypoints...
then output comes very good, everythings okay but resolution is only 10hz;
/joint_states
/move_group/fake_controller_joint_states
/move_group/result

how can i incease rate
-------------------------------------------------------------------
solved:
rqt->dynamic reconfigure->ompl there are three parameters
simplfy_solutions
minimum_waypoint_count
maximum_waypoint_distance

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Can you look this documentation http://docs.ros.org/en/kinetic/api/mo...

For configuration, edit the file config/fake_controllers.yaml, and adjust the desired controller type. The following controllers are available:

rate: 10 (Hz, used for interpolation controller)
controller_list:
  - name: fake_arm_controller
    type: interpolate | via points | last point
    joints:
      - joint_1
      - joint_2
      - joint_3
      - joint_4
      - joint_5
      - joint_6
  - name: fake_gripper_controller
    joints:
      []

bekirbostanci ( 2021-02-03 13:54:05 -0600 )edit

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answered 2021-02-04 01:38:55 -0600

omeranar1

31 ●17 ●34 ●38

i already tried your solution kanka but nothing changed, rate still 10hz, this is my "config/fake_controllers.yaml" file

rate: 100
controller_list:
  - name: fake_arm1_controller
    joints:
      - j1
  - name: fake_arm2_controller
    joints:
      - j1
      - j2
  - name: fake_arm3_controller
    joints:
      - j1
      - j2
      - j3
  - name: fake_arm4_controller
    joints:
      - j1
      - j2
      - j3
      - j4
  - name: fake_arm5_controller
    joints:
      - j1
      - j2
      - j3
      - j4
      - j5
  - name: fake_end_controller
    joints:
      - j1
      - j2
      - j3
      - j4
      - j5
      - j6
      - j7
      - j8
initial:  # Define initial robot poses.
  - group: end
    pose: home

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Are you sure your configuration file used ? Maybe it did not use that config file

bekirbostanci ( 2021-02-04 02:38:37 -0600 )edit

Loading parameters did not change the rate. ( config/fake_controllers.yaml )
When I added this lines to my launch file, the rate increased.

demo.launch:

<node name = "joint_state_publisher" pkg = "joint_state_publisher" type = "joint_state_publisher">
<rosparam param = "source_list"> [move_group / fake_controller_joint_states] </rosparam>
<param name = "rate" value = "100" />
</node>

like in the picture: https://ibb.co/tpqTsnV
but the angles repeat.
for example;
j1: 30.05, at milisecond: 5
j1: 30.05, at milisecond: 6
j1: 30.05, at milisecond: 7
j1: 30.05, at milisecond: 8
j1: 30.05, at milisecond: 9
j1: 30.05, at milisecond: 10
j1: 35.08, at milisecond: 11

i think the resolution is still the same. The update rate is high but the refresh rate of the data is still slow.

omeranar1 ( 2021-02-11 23:25:15 -0600 )edit

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increase joint angle's resolution

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increase joint angle's resolution