I can't change velocity of robot when scaled joint trajectory control is operated. about universal_robots_ros2_driver HOT 3 CLOSED

The scaled_joint_trajectory_controller should only slow you down if you actually lower the speed scaling on the controller - you can monitor that value using ros2 topic echo /speed_scaling_state_broadcaster/speed_scaling. You can use the "normal" joint_trajectory_controller directly using the launch file:

ros2 launch ur_robot_driver ur_control.launch.py ur_type:=ur10e robot_ip:=<robot ip> initial_joint_controller:=joint_trajectory_controller

but this should not change anything as long as the speed_scaling topic returns 100.

Both these controllers (and forward_position_controller) do not care about any joint limits, so i would suspect that slow movement would be the result of parametrization on the MoveIt side. Can you verify if this occurs if you directly send goals to the controller?

It would also help if you could quantify "slow". What are the maximum velocities you achieve (e.g. looking at the /joint_states topic)?

from universal_robots_ros2_driver.

Thanks a lot Robert. When I send goals to the controllers that this script:

ros2 topic pub --once /urscript_interface/script_command std_msgs/msg/String '{data:
"def my_prog():
  textmsg(\"motion begin\")
  movej([2.3, -1.48, -1.55, -1.22, 1.23, -0.92], a=2.0, v=0.90, r=0)
  movel(p[0.188, 0.450, 0.589, 2.477, 2.470, 0.677], a=1.2, v=0.25, r=0)
  textmsg(\"motion finished\")
end"}'

UR robot moves without scaled speed that it worked but this script executed only UR controller. I need to control and move real robot by using RVIZ and Moveit. I am not sure which controller should I use that among joint_trajectory_controller, scaled_joint_trajectory_controller, forward_position_controller. I am only sure that scaled JTC is not useful for me. What do you suggest in terms of using moveit features such as avoidance of singularity, collision, joint limit ?

from universal_robots_ros2_driver.

As Robert wrote: The motion speed is not a result from the controller, but from the controller's input. Please also see #966 (comment)

from universal_robots_ros2_driver.