真机调试使用moveit进行规划总是关节速度及加速度过大导致运行失败

[fly199123]

trafficstars

真机调试时，使用moveit发送关节指令，规划得到轨迹之后运行关节速度及加速度超出最大值导致运行时有巨大晃动

[Joinjiang]

When using the updated package, I also encountered this issue: the trajectory execution failure rate is higher than with the previous package, although the runtime stability is slightly better. Additionally, there is a problematic section of code in the updated package's aubo_driver.cpp. // Check if the acceleration exceeds the limit. for (int i = 0; i < 6; i++) { joint_acc_.jointPara[i] = fabs(target_joint_velc_.jointPara[i] - last_joint_velc_.jointPara[i]) / 0.005; if (joint_acc_.jointPara[i] > MaxAcc[i]) { if (over_speed_flag_) { ROS_INFO("Joint %d acc: (%f - %f)/0.005 = %f ", i, target_joint_velc_.jointPara[i], last_joint_velc_.jointPara[i], joint_acc_.jointPara[i]); } } }. First, the code in that section is meaningless. Moreover, logically speaking, the code inside the ROS_INFO statement will never be executed. The simple linear interpolation used for overspeed checking doesn't indicate how it affects the hardware. Personally, I feel that this code hasn't undergone rigorous and repeated testing, and no specific explanations have been provided. Use it with caution.

[tyhuang98]

I face the same problem. Have you solved it, any suggestion?