penglongxiang

Hi @JuliusSustarevas , for your clarifications: 1. Yes, as the controller log indicates: velocity command was sent in 100Hz, but the value changes (oscillates) at 50Hz. I will post a...

I just noticed `JointStateController` will also publish to `joint_states` topic if it is running, in the frequency specified in its config (`50Hz` here). And the velocity it publishes is indeed...

Hi another update… Sorry I did not check thoroughly, the velocity from JointStateController is calculated in the xArmHW:read() function rather than joint state controller itself. Now it is actually our...

Hi we've been looking at this issue since the day we were back to office, we suspect the oscillation in velocity calculated in read() and used by JointStateController is due...

> By the way, when I move the end effector in any cartesian line even at very slow speeds and **even in xarm studio** I see quite substantial vibration/oscilation on...

If position control is not an option, as far as I know, `velocity_controllers/JointGroupVelocityController` operates in an open-loop fashion, a closed-loop version is `velocity_controllers/JointTrajectoryController` which is used by Moveit.

> Issue with this is the 5Hz update rate. I believe it is still 5Hz right? Yes, so we will make the data from `JointStateController` more reasonable even at 100Hz....

Hi we are now in lock down state and working from home because of the pandemic of the city. This affected the testing and release of new firmware. Maybe we...

About the vibration in the video, could you please try just using xArm Studio to jog the robot at similar position with similar velocity, to confirm the robot will also...

Hi @micahpearlman , the provided ros services are only effective for our xArm controller planning algorithm, since Moveit is a third party motion planning software, you probably need to find...