Any way to control acceleration of generated trajectories for individual requests?

[ghost]

I have recently started using moveit and am working though how to control speed and acceleration of the generated trajectories. I came across PR #547 that describes the max_velocity_scaling_factor and was wondering if it would make sense to have a similar scaling factor for acceleration. I am using this parameter (and it is great!) but I still have some cases where I am indifferent to the speeds but need less acceleration to get smooth motion (e.g., heavy and/or fragile payloads). Plus I think having both speed and acceleration scaling makes sense from a consistency standpoint.

Currently I am just making changes to the joint_limits.yaml file but the ability to control this on a per trajectory basis would be awesome!

[davetcoleman]

I had this same thought recently - it would be nice to have an acceleration scalar as well. I think you could mimic the changes in this PR #547 for acceleration and submit the change as a new PR

[ghost]

Agreed. I will see if I can find time to do this over the next few weeks.

[ghost]

Submitted via PR #634. Tested on Universal Robot UR10 Simulator (ur_sim) and universal_robot / ur_modern_driver ROS packages.

Screenshot of updated RViz plugin below:

[davetcoleman]

Sweet!

[davetcoleman]

All 3 PRs have been merged. Re-open this issue if needed.