Hello,
I'm observing the trajectory planned by moveit into Gazebo. My actual work is to simulate a warehouse in gazebo and implement pick -n- place. For this i'm using moveit to plan the trajectory and executing in into gazebo.
When i try to execute trajectory in the regular gazebo world (empty.world) trajectory execution is at regular speed.
The actual problem is, when i load the warehouse models into gazebo the trajectory execution slows down, sometimes because of this Goal tolerance is violated.
my warehouse models include a bookshelf (from gazebo model directory), 5 .dae meshes i have converted from point clouds (having size around 800kb per models)
Can anybody tell me:
1. Why trajectory execution is slowing down when i use warehouse models??
2. How to increase the speed with which the trajectory will be sent from moveit to gazebo??
Thanks in advance.
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