1000hz JTC issue

[bmagyar]

          Hi @gwalck :

I am facing a robot jerky problem when using JCT with Moveit in ROS2 Foxy. But, the problem did not appear in ROS1 Noetic. So, I also dug deeper in sample methods between ros_control and ros2_control. As you mentioned above, ros2_control implementation samples at current time. So, I set the loop rate of ros2_control_node at frequency 1000hz and print the sample time out like this:

When I tried to plan and excute with Moveit, the sample time was shown in my terminal.

It is clear that, although the trajectory carried out by spline is smooth, the different sample interpolation may cause a jerky robot. And, I am afraid that the rate limit in ros2_control_node will not work due to that the sample interpolation is longer than 1ms in my situation.

Do I miss something causing my jerky robot? Have you met the same problem like me? If it possible, could you please show me some solutions to handle this jerky problem?

platform: ubuntu 20.04 ROS Version: Foxy

Originally posted by @zengxuhe in https://github.com/ros-controls/ros2_controllers/issues/697#issuecomment-1683449512

[gwalck]

@bmagyar did you forget to move my post ?

[destogl]

@zengxuhe your output times look quite irregular. Are you using RT Kernel? Without it you will not get 1000 Hz stable.