How to achieve the maximum speed of xarm using Moveit Servoing

[Akumar201]

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Hi, I am using moveit xarm tutorial to move the arm using joystick, I would like to know how can I achieve the maximum speed from the xarm using move-it serving.

[vimior]

@Akumar201 Here is the use of servoj mode to control the robotic arm. It does not support specifying the speed, but the speed can be controlled by sending frequency. Here I provide an example of modifying some configuration parameters. You can refer to the modification and debugging to see what speed meets your needs.

1. Modify xarm_controller/config/xarm6_controllers.yaml (note that the 6-axis is used as an example), and appropriately increase the update_rate (100?)
2. Modify xarm_moveit_servo/config/xarm_moveit_servo_config.yaml, increase publish_period appropriately (0.1?), set low_latency_mode to true

[Akumar201]

Thank You ! It worked , however I would like to know that what would be the limits of these values ?

[vimior]

@Akumar201 update_rate is the frequency at which the instructions of the controller (such as JointTrajectoryController) are updated to the hardware interface (uf_robot_hardware). publish_period is used internally by moveit_servo, mainly to scale the sent instructions and control the frequency sent to move_group (if low_latency_mode is true, it will not control the frequency sent) For more details, you can check the description or code of moveit_servo