servoing jerkiness

[alandelira]

I am using the joy_servo_teleop.launch.py example with a game controller. The iiwa moves however the movement is very jittery. I tried changing the publish_period in iiwa_moveit2_servo_config.yaml and it helped a little, but the motion is still jerky.

Any recommendations? Were you using a real time kernal? I would be glad to provide more details about my setup.

Thank you.