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Questions tagged [joint-trajectory-controller]

joint_trajectory_controller (or just JTC) is a controller plugin for the ros2_control framework

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Gazebo does not calculate dynamics when joint_trajectory_controller with position command_interface is used

I was wondering why Gazebo does not calculate dynamics (velocity, acceleration, effort) when JointTrajectoryController is used with ...
Jakub Ivan's user avatar
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MoveIt2 does not recognize when goal pose is reached (MoveIt2: Completed trajectory execution with status TIMED OUT)

Summary MoveIt2 does not seem to recognize if the robot reached the goal, resulting in the robot waiting in the reached goal pose until MoveIt2 times out. Setup We are using a UR10 in combination with ...
Valentino Geuenich's user avatar
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Why are PID values have no effect on position_controllers/JointTrajectotyController?

I read on this website https://www.rosroboticslearning.com/ros-control that PID values have no effect in the case of using position_controllers/JointTrajectoryController. Is this true? If the answer ...
Samy's user avatar
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ros2_control - Hardware Interface - Write() & Moveit2 Joint Trajectory

By using ROS Humble, Moveit2, and ros2_control, I am trying to accomplish manipulation tasks with the CRX-10iA/L Fanuc robot. Currently, I am implementing ros2_control hardware_interface part. Inside ...
Oben Sustam's user avatar
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ros2_control with position and velocity controller

I`m trying to use position and velocity control with joint_trajectory_controller, I have several problems: it seems to me that controller doesn't take velocity into account, while in Gazebo logs both ...
reinzler's user avatar
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What is the difference between JointJog msgs and JointTrajectory msg in ros2?

I am learning ros2_control and have encountered a JointJog message. Can anyone explain in what context both messages are used? Is it possible to convert JointTrajectory msgs to Jointjog message? Thank ...
Hem92j's user avatar
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JTC ignores URDF velocity limit

having setup my igus axis to control it with the joint_trajectory controller it seems that it completely ignores any limits i set in the urdf file. Is there a fix for this? urdf joint: ...
Adam's user avatar
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How to stop "hold" trajectory in joint trajectory controller when close enough

As soon as my robot initializes its velocity_controllers/JointTrajectoryController, the arm starts swinging back-and-forth as the controller tries to reach ...
01 Binary's user avatar
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2 answers
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Joint Trajectory Controller not working with multiple hardware interfaces

first of all merry Christmas to whoever is celebrating! I am working on adding a 7th prismatic axis to the UR10e robot and implementing a kinematic chain to synchronously control the robot. The ...
Adam's user avatar
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Implementing a prismatic joint within a joint trajectory controller

I'm wondering if someone has some ideas about how to make a prismatic axis work with ros2 controllers. I am using a UR10e which is mountd on an igus drylin ZLW 7th Axis controlled by Dryve D1. I have ...
Adam's user avatar
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Using MoveIt2 to plan a smooth path consisted of several discretized points to control a UR5e robot

I would like to generate a "smooth" trajectory in space, and plan it using Moveit2 (along with ROS2 humble) in order to make a UR5e robot drive these points. I am aware that I need to ...
ajtb's user avatar
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Joint Trajectory Controller with velocity command interface reports success to early

I want to control a manipulator with the Joint Trajectory Controller (JTC) by using the velocity command interface. I am using ros2_control respectively ros2_controllers on the master branch and I ...
Jacob Ritterbach's user avatar
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1 answer
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Joint Trajectory Controller with velocity command interface has non-zero velocity after finshed trajectory

I want to control a manipulator with the Joint Trajectory Controller by using the velocity command interface. I am planning a trajectory with with MoveIt ...
Jacob Ritterbach's user avatar
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How to set the optional parameter , "use_local_topics", of joint_state_broadcaster of ros2_control (foxy)

I'm using ros2 control foxy now,and I'm trying to define namespace for my robot. The problem is that joint_state_broadcaster doesn't publish the /joint_states to the local topic /ns/joint_states. ...
THA's user avatar
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publish saved trajectory one by one

i have a trajectory from moveit::planning_interface::MoveGroupInterface::Plan i am trying to publish all points one by one ...
Omer ANAR's user avatar
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Configuring ros2_control/urdf with several robots

Hello guys, im hoping, as usual, to get some help. I'm trying to configure an urdf file with ros2_control. What i want to achieve: Start the same hardware interface, but for a subset of the available ...
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ROS2 joint_trajectory_controllers sync with hardware execution

I've got a question about ros2_control, the hardware_interface syncronisation to be exact. I've read through most of the examples and got a working model with ros_control, joint_trajectory_controller ...
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1 answer
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Why my hardware interface can't get command from controller?

Hello, everyone I have succeed to connect the Gazebo with MOVEIT by editing my yaml files and launch files. And now I decide to write a hardware interface to control my real robot by joint-trajectory-...
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1 answer
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joint_trajectory_controllers for ROS Melodic on Arch Linux

Hi there, After a new fresh install of ROS Melodic on our Arch machine, I noticed that upon installing deps for the new ur_robot_driver, the package ...
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1 answer
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JointTrajectoryController ( no p gain specified)

hello all, am trying to move multiple joints of my delta robot using JointTrajectoryController ( I am using ROS kinetic) . but i am getting the following error: ...
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Stop joint_trajectory_controller execution at rostopic event

I'm on Ubuntu 14.04 with ROS Indigo. I am using joint_trajectory_controller to control a single actuated joint robotic hand. After having send a ...
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roscanopen + joint_trajectory_controller + Interpolated Position Mode

I would like clarification regarding the control flow that occurs when a joint_trajectory_controller is used with ros-canopen to control motor controllers in Interpolated Position Mode (CanOpen drive ...
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2 answers
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How to change the robot_description paramter for the joint_trajectory_controller

Dear ROS community, i am simulating a ABB IRB2400 robot arm in gazebo controlling it with MoveIt. This is working so far. My goal is to simulate two arms. So i moved them in different namespaces and ...
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code error when trying to publish an JointTrajectory message

Hi! Right now i am working with a custom robot and i am trying to publish a message by cpp. Which it doesn't work for some reason. The points and joint names i send are correct, (tested publishing via ...
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Unable to implement control on MoveIt: Parameter '~moveit_controller_manager' not specified

I am struggling to implement a joint_trajectory_controller on Moveit. I have: Set up my controllers.yaml file ...
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1 answer
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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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ros_canopen driver for schunk_lwa4p does not execute trajectory

Hi, I want to move my schunk lwa4p arm. I am using ros_canopen and schunk_robots, as well as a self-written action client to interact with the joint_trajectory_controller. My goal requests seem to ...
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joint_trajectory_action question

I am reading the joint_trajectory_action.cpp file in joint_trajectory_action ros package. I have a question about following callback function. ...
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Arm Navigation interfaces for custom manipulators

Hi All, being impressed with the arm_navigation warehouse viewer, I would like to integrate it into the control system of my custom arm. Using the warehouse viewer I was able to get to use my custom ...
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how to solve the frame ID setting warning?

Do you have any idea ** to correct the following warning setting? [WARN] [1340092854.777455509]: Message from [/hokuyo] has a non-fully-qualified frame_id [laser]....
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Move the PR2 arm through some predefined points

I am a beginner with ROS. I am doing a simple task of writing a controller to move the PR2 arm through some predefined points. So, I need the values of [r_shoulder_pan_joint, r_shoulder_lift_joint, ...
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JointTrajectoryActionController, does it allocate heap resources?

Hi all, The JointTrajectoryActionController implementation now contains two action servers, which subscribe to, and publish ROS topics. I'm under the impression that the heap allocations associated to ...
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Moving robot through waypoints along a cubic spline path

After going through the trajectory filter tutorials, I have two fundamental doubts: What is the meaning of the output given by the server? Is it the intermediate waypoints - interpolated by the ...
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1 answer
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JointTrajectoryResult not defined?

Hi, I am trying to get the result of a JointTrajectoryAction. The my_joint_trajecotry_action_client.get_result() returns a message of type JointTrajectoryResult, but it has no meaningful fields. What'...
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what might cause the shoulder_lift_joint not to go all the way up?

Hi, I'm using JointTrajectoryAction to control the arm to follow a trajectory that can be executed well by openrave's controller. Most of the time, it works. But I found one case where the trajectory ...
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