Hi Jannik,<br><br>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:<br>
<br>visualizePlan(current_trajectory_); //move_arm_simple_action.cpp:1361 in unstable. <br><br>Comment this line out, and then copy it an add it after the line:<br><br>current_trajectory_ = filtered_trajectory; //move_arm_simple_action.cpp:1422 in unstable<br>
visualizePlan(current_trajectory_); // copied from 1361<br><br>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.<br>
<br>Let us know if you have other questions.<br><br>-Gil<br><br>--<br>E. Gil Jones (<a href="mailto:gjones@willowgarage.com" target="_blank">gjones@willowgarage.com</a>)<br>Research Engineer<br>Willow Garage, Inc.<br>68 Willow Road<br>
Menlo Park, CA 94025<br><a href="tel:+16504759772" target="_blank">650.475.9772</a><br>
<br><br><div class="gmail_quote">On Fri, Feb 11, 2011 at 10:18 AM, Jannik Kett <span dir="ltr"><<a href="mailto:jannik.kett@googlemail.com">jannik.kett@googlemail.com</a>></span> wrote:<br><blockquote class="gmail_quote" style="margin: 0pt 0pt 0pt 0.8ex; border-left: 1px solid rgb(204, 204, 204); padding-left: 1ex;">
Hello everyone,<br><br>I'm a student at University of Stuttgart and work at IPA Fraunhofer with the Care-O-bot. <br>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). <br>
So we're looking for ideas, hints and rules how to choose these parameters or explanations where the trajectory error could come from.<br><br>Thanks in advance for your help!<br><font color="#888888"><br>-Jannik<br>
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