Comments (2)
I am not familiar enough with MoveIt!-specific configuration to answer this in a full extent, but I can say the following:
- Velocity isn't capped, and definitively not to 0.6 rad/s. I ran a couple of tests and reached velocities around 1.4 rad/s during test motions.
- I assume the rather slow motions are due to the conservative acceleration limits used by MoveIt! by default. We increased those for the rolling version in #645 but it might as well affect the Humble version. On Rolling I could achieve peak velocities of above 2 rad/s but at that point the robot slowed down the motion due to its Cartesian safety limits. When performing a motion only in the last joint, I even got around 3.1 rad/s.
Maybe we should backport #645 also to Humble.
from universal_robots_ros2_driver.
Closing this since #981 got merged.
from universal_robots_ros2_driver.
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