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Questions tagged [acceleration]

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acceleration input to quadcopter

I am new to quadcopters. My physics/mechanics has always been weak. I need help to clear this doubt. I am working on a project where i need to control my quadcopter by giving it acceleration input in ...
V Adarsh's user avatar
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18 views

Confusion in how to start solving such problems

A coordinate frame (2) is attached to a body with origin 02 at the position [x(t) y(t) z(t)] transpose from the base frame (1). Apart from translation. the frame is rotating about the x1 axis by an ...
Gaurav Godse's user avatar
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1 answer
108 views

Settings for max velocity and acceleration not effected at real FANUC robot

I am using the the python commands set_max_acceleration_scaling_factor(x) and set_max_velocity_scaling_factor(y) of the ...
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1 answer
32 views

the acc of last trajectory point in FollowJointTrajectory is not zero

Hi, all, I'm using MoveIt to plan a trajectory to reach certain. The trajectory is sent via FollowJointTrajectory action. I intend to receive the goal in FollowJointTrajectory and interpolate between ...
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1 answer
26 views

Velocity and acceleration scaling

Hi, I'm not sure if this is the correct place to this question, but anyway I'm going to ask it in this forum. I'm controlling an UR10e robot with MoveIt and ROS, and I realized that the controllers ...
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1 answer
19 views

How to get joint, speed, acceleration values of cartesian path?

I'm currently working with OMPL and waypoints. This tutorial explains how to use them. Everything working fine and the plan from start to goal is executed. The terminal tells me the following: ...
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1 answer
12 views

IMU data to be used with robot_localization

I am using the package robot_localization with an IMU. In the docs, the Preparing Your Data for Use with robot_localization, it says Adherence to specifications: As with odometry, be sure your data ...
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1 answer
20 views

Calculate position of robot

Hi, I would like to know if there is a method to calculate the position of a robot based on angular velocity and accelerations. I would like, from a start position, to move my robot and, based on ...
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1 answer
4 views

Using imu acceleration data from /imu/data topic

Hi, I am using the jackal in simulation. I am performing a few tests and collecting data. My program drives the robot with steady increase in speed such that the increment itself is increased by a ...
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1 answer
23 views

Angular Velocity and accelerations

Hi all, I am trying to calculate the angular velocity and acceleration for 7DoF robot. Which does not support these measurements. So I need to derive the joints variable online and publish the result ...
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1 answer
25 views

What is the difference between acceleration and effort?

In ros_control what is "effort"? How is it different from acceleration? Can I use a value meant to be acceleration in place of effort? For context I'm using moveit and ros_control with a ...
Shane Loretz's user avatar
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1 answer
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robot_localization how to handle accelerations when tilted

I have robot_localization working nicely (thanks to help from Tom Moore), feeding X velocity from wheel odometry and z angular velocity from a gyro. I also have a 3 axis accelerometer so I would like ...
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1 answer
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Unable to run movit

I Just Installed ros on ubuntu 14.04 running as a guest on my virtual box(windows as host), by following the guidelines given on the installation page. After that I installed movit to run pr2 robot on ...
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1 answer
47 views

IMU linear acceleration to position

Hey guys, I have IMU 3dm_GX2 and I want to get position from it. I know that there will be accumulated error and will not be accurate but I need to get the best out of it. I excluded the gravity ...
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1 answer
21 views

robot_localization gravity removal

I am using the last version of robot_localization. I have a 3DM-GX3-5 OEM IMU sensor in my robot. I want to remove the effect of gravity in the EKF. I have set the parameter in the launchfile so to do ...
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1 answer
6 views

Base Local Planner Configuration

Hi, In my deferentially steered drive system based robot my values for acceleration and deceleration are different (that was the best option, based on experimentation). How does this affect: ...
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1 answer
13 views

Why does the DWA Local Planner need an acceleration value of >= 1.0?

Sometimes, in cluttered environments, our (differential wheeled) robot seems to accelerate too fast and navigates itself into places it cannot escape from. Just to test if a lower acceleration would ...
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1 answer
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Too fast circling during the localization

When with rviz i inform the estimate localization, the robot start by circling very fasly. It is too fast, and may be dangerous. So how can I decrease the speed? I tried to reduce in the ...
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1 answer
11 views

Acceleration in Gazebo

Hello there, I have a robot model that I spawn in Gazebo, and I have developed a client, which indicates its position and velocities. Is there any way to indicate its acceleration, is there any ...
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