Using Velocity Profile of Dynamixel to make the motion smoother

ROBOTIS-GIT · Jan 26, 2025 · 0737960 · 0737960
1 parent ff88b9e
commit 0737960
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Showing 2 changed files with 26 additions and 18 deletions.
diff --git a/open_manipulator_x_description/ros2_control/open_manipulator_x_system.ros2_control.xacro b/open_manipulator_x_description/ros2_control/open_manipulator_x_system.ros2_control.xacro
@@ -117,6 +117,8 @@
         <param name="Position P Gain">800</param>
         <param name="Position I Gain">100</param>
         <param name="Position D Gain">100</param>
+        <param name="Profile Velocity">200</param>
+        <param name="Profile Acceleration">50</param>
         <param name="Drive Mode">0</param>
       </gpio>
 
@@ -132,6 +134,8 @@
         <param name="Position P Gain">800</param>
         <param name="Position I Gain">100</param>
         <param name="Position D Gain">100</param>
+        <param name="Profile Velocity">200</param>
+        <param name="Profile Acceleration">50</param>
         <param name="Drive Mode">0</param>
       </gpio>
 
@@ -147,6 +151,8 @@
         <param name="Position P Gain">800</param>
         <param name="Position I Gain">100</param>
         <param name="Position D Gain">100</param>
+        <param name="Profile Velocity">200</param>
+        <param name="Profile Acceleration">50</param>
         <param name="Drive Mode">0</param>
       </gpio>
 
@@ -162,6 +168,8 @@
         <param name="Position P Gain">800</param>
         <param name="Position I Gain">100</param>
         <param name="Position D Gain">100</param>
+        <param name="Profile Velocity">200</param>
+        <param name="Profile Acceleration">50</param>
         <param name="Drive Mode">0</param>
       </gpio>
 

diff --git a/open_manipulator_x_moveit_config/config/joint_limits.yaml b/open_manipulator_x_moveit_config/config/joint_limits.yaml
@@ -10,33 +10,33 @@ default_acceleration_scaling_factor: 0.1
 joint_limits:
   gripper_left_joint:
     has_velocity_limits: true
-    max_velocity: 4.7999999999999998
-    has_acceleration_limits: false
-    max_acceleration: 0
+    max_velocity: 4.796164779
+    has_acceleration_limits: true
+    max_acceleration: 18.7253757
     has_position_limits: true
 
   gripper_right_joint:
     has_velocity_limits: true
-    max_velocity: 4.7999999999999998
-    has_acceleration_limits: false
-    max_acceleration: 0
+    max_velocity: 4.796164779
+    has_acceleration_limits: true
+    max_acceleration: 18.7253757
   joint1:
     has_velocity_limits: true
-    max_velocity: 4.7999999999999998
-    has_acceleration_limits: false
-    max_acceleration: 0
+    max_velocity: 4.796164779
+    has_acceleration_limits: true
+    max_acceleration: 18.7253757
   joint2:
     has_velocity_limits: true
-    max_velocity: 4.7999999999999998
-    has_acceleration_limits: false
-    max_acceleration: 0
+    max_velocity: 4.796164779
+    has_acceleration_limits: true
+    max_acceleration: 18.7253757
   joint3:
     has_velocity_limits: true
-    max_velocity: 4.7999999999999998
-    has_acceleration_limits: false
-    max_acceleration: 0
+    max_velocity: 4.796164779
+    has_acceleration_limits: true
+    max_acceleration: 18.7253757
   joint4:
     has_velocity_limits: true
-    max_velocity: 4.7999999999999998
-    has_acceleration_limits: false
-    max_acceleration: 0
+    max_velocity: 4.796164779
+    has_acceleration_limits: true
+    max_acceleration: 18.7253757