Hi Jannik, The path you are seeing is indeed the path that comes from the planner. But there's an extra step that move_arm goes through of filtering the trajectory using a spline_shortcutting method that tries to find ways to make the path shorter while also assigning reasonable velocities when it can. This can change the trajectory quite a bit. If you want to see the path that move_arm will actually be sending to be executed you'll need to change the code a bit. Overlay arm_navigation. In whatever version of the code you are running find the line: visualizePlan(current_trajectory_); //move_arm_simple_action.cpp:1361 in unstable. Comment this line out, and then copy it an add it after the line: current_trajectory_ = filtered_trajectory; //move_arm_simple_action.cpp:1422 in unstable visualizePlan(current_trajectory_); // copied from 1361 The trajectory you see in rviz will now be the actual one getting passed to the controller. I expect it will look much more like the executed trajectory. Let us know if you have other questions. -Gil -- E. Gil Jones (gjones@willowgarage.com) Research Engineer Willow Garage, Inc. 68 Willow Road Menlo Park, CA 94025 650.475.9772 <+16504759772> On Fri, Feb 11, 2011 at 10:18 AM, Jannik Kett wrote: > Hello everyone, > > I'm a student at University of Stuttgart and work at IPA Fraunhofer with > the Care-O-bot. > We have here some problems with the planned trajectory in simulation. The > actual executed trajectory of the robot arm in rviz differs from the planned > one (display_path (motion_planning_msgs/DisplayTrajectory)). We guess that > it comes from the dynamic model and the chosen controller parameters in the > arm_controller_cob3-1.yaml file > (cob_simulation/cob_controller_configuration_gazebo/ros/controller). > So we're looking for ideas, hints and rules how to choose these parameters > or explanations where the trajectory error could come from. > > Thanks in advance for your help! > > -Jannik > > _______________________________________________ > ros-users mailing list > ros-users@code.ros.org > https://code.ros.org/mailman/listinfo/ros-users > >