Hi,
is there a graphical tool to plot current joint_states vs desired joint states which are output by moveit? I want to visually evaluate the performance of the hardware controller / check if my velocity or acceleration params are reasonable. Is rqt_plot the best choice? And what would be the topic for the desired joint states?
Thanks,
Chris
Originally posted by cschindlbeck on ROS Answers with karma: 56 on 2021-05-04
Post score: 0
Is rqt_plot the best choice?
PlotJuggler is probably easier.
And what would be the topic for the desired joint states?
For the OotB set of controllers from ros_control, you could check the state topic.
Those typically carry messages from control_msgs, which include JointControllerState, JointTrajectoryControllerState and PidState.
Originally posted by gvdhoorn with karma: 86574 on 2021-05-04
This answer was ACCEPTED on the original site
Post score: 1
Comment by cschindlbeck on 2021-05-04:
Thanks, when i use Gazebo, i can check the state from my position controllers (desired vs acutal), when i do plain moveit and use the fake_controller, there is no such state, is there a way to check in vanilla moveit?
Comment by gvdhoorn on 2021-05-04:\
when i do plain moveit and use the fake_controller, there is no such state, is there a way to check in vanilla moveit?
Afaik, fake_controller doesn't lead to anything actually controlling anything. It's just kinematic play-out with a 'perfect robot' model. There are no dynamics.
You could check the JointState messages published by it (IIRC it does that), but that would not really tell you anything I believe. Just what the state of the play-out is.
