Immanuel Martini

WIP: 7d66d110025c0a768beb7727154fdc70ad957123

Limiting the acceleration of the blend trajectory could be a new feature of the implementation.

In this context, it should also be avoided to load two robot descriptions (one with and one without gripper) onto the parameter server. See https://github.com/PilzDE/pilz_robots/pull/94

Thanks. We made use of this in #331 (except for the format version). Since we don't need these changes for melodic: Close?

@jschleicher @hslusarek I would like to discuss if we could skip the stop trajectory completely and let the firmware do the stopping. Then we would not need the acceleration limit,...

But if we abort the trajectory and stay on the latest position, the firmware will stop the movement asap without closing the brakes?

> > But if we abort the trajectory and stay on the latest position, the firmware will stop the movement asap without closing the brakes? > > I'm not sure...

> The joint values sent by the controller should obey the joint limits for both velocity and acceleration. That's what the configuration values are meant for. > > But this...

This is the desired velocity the controller produces from a PTP trajectory. You can see that the acceleration varies at the beginning: 

I think the trajectories which are generated by the planner do not violate the limit. But through its interpolation routine the controller can slightly deviate from the intended trajectory. I...