Jerked Arm movements vs. roadmap

[lmendyk]

I managed to start the system based on a branch applying the ROS2 control and use MoveIt2 for planning the arm movements but the result is very unsmooth movements (the whole tb3_om jerks when moves) . I don’t know if this is due to some bugs/issues similar to (https://github.com/ROBOTIS-GIT/turtlebot3_manipulation/issues/55#issuecomment-1438289847) or it is “by design” due to current implementation scope and the improvement is on the roadmap. In other words is there a roadmap for this project and description of assumption/limitation assumed.

I’m new to robotics, but my understanding is that to have arm movement smooth, the joint_trajectory_controller may need to use not just “position” but also “velocity” (and “acceleration”) . Only after that using MoveIt with plugins for trajectory smoothing can result with smoot robot movements. I’m not sure if I correct understand this.

Anyway, is in the scope of this project to enable smoot control of the arm movement using ROS2 controls – or it is out -of scope.