Hi
I am using ROS kinetic with Ubuntu 16.04. I am trying to compare the trajectory generated by MoveIt! and the trajectory at the output of ros-control. When I analyzed the acceleration profiles for both, there were huge jerks and overshoots at the ros-control side. Below is the acceleration profile:
I moved only joint 2 of my 7 dof manipulator arm and taken the ros-control output from **/position_joint_trajectory_command** topic.
The blue one is the acceleration output from MoveIt! and the red one is the acceleration output from ros-control. I am using **position_controllers/JointTrajectoryController** for moving the manipulator.
Can someone tell how to smooth this profile ??
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