Using Velocity Profile of Dynamixel to make the motion smoother

[Woojin-Crive]

Smooth Motion Implementation Using Dynamixel's Velocity Profile

This pull request aims to enhance the motion smoothness of the OpenManipulator by utilizing the Velocity Profile feature of Dynamixel.

Changes

1. Configuration Updates

   • Modified open_manipulator_x_system.ros2_control.xacro to include the Profile Velocity and Profile Acceleration parameter for each joint.
   • Updated joint_limits.yaml to reflect the new velocity profiles.

2. Parameter Adjustments

   • Set Profile Velocity to 200 and Profile Acceleration to 50 for all joints to ensure consistent and smooth motion.

Benefits

• Enhanced Motion Smoothness: By setting the Profile Velocity, the manipulator's movements become more fluid, reducing abrupt starts and stops.
• Improved Control: Allows for finer control over joint velocities, leading to more precise operations.

Please review the changes and provide feedback or suggestions for further improvements.

[sunghowoo]

@Woojin-Crive I have confirmed that the motion of OM-X has become smoother. Thank you for your feedback and improvements.