Josh

Tuning Parameters for Velocity Controller

3

I've been using the `compliance_controller`, which for reference can be located here: [compliance_controller](https://github.com/UTNuclearRobotics/ros_controllers/tree/melodic-compliance-updates) This is a velocity controller, and hence I've had to do a bit of tuning of the...

MultiMove Usage Results in Joint Name Collision

1

As I'm working through setting up an external axis for use with EGM, I've found that [this](https://github.com/PickNikRobotics/abb_ros2/blob/843616b974fd1d34d00036e0f64a6662cb79c2cb/abb_hardware_interface/src/abb_hardware_interface.cpp#L153) line of code (and the corresponding line for command interface rather than state)...

significantly improve execution time and cpu use of "sample" for large trajectories

11

I noticed for trajectories which contain ~25k waypoints that CPU usage would grow continuously over the course of the trajectory's execution. I narrowed this down to "sample" always starting from...

Smooth Linear Spline causing massive deviations in position

2

I've been trying to use the SmoothLinearSpline functionality, and I've found that for the data set I'm using, I get absolutely huge deviations in position for the points I've defined....