My robot is running slower than it should. It can move much faster. How can I make it go at full speed?
Originally posted by fvd on ROS Answers with karma: 2180 on 2020-03-08
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By default, the velocity and acceleration is set to 10% of the robot's maximum in MoveIt (starting from Noetic). You can change the values in your code with this C++ and this Python function, or change the default value in the joint_limits.yaml file in your moveit_config package.
Originally posted by fvd with karma: 2180 on 2020-03-08
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In addition to what @fvd writes, also check whether the robot model has appropriate velocity and acceleration limits configured.
If it doesn't, MoveIt (or actually: the time-parameterisation plugins) will assume a default of 1.0 rad/s and 1.0 rad/s^2 for all joints without limits:
- here for the
IterativeParabolicTimeParameterization - here for the
IterativeSplineParameterization - here and here for the
TimeOptimalTrajectoryGeneration
Originally posted by gvdhoorn with karma: 86574 on 2020-03-09
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