Speed up the motion of OMP


This is about OpenMANIPULATOR P

Control Environment

running ROS Melodic in Ubuntu 18.04 inside a Virtual machine in Windows PC.

Hardware Description

I’m using official ROBOTIS OpenMANIPULATOR-P with gripper (RH-P12-RN)

Issue Description

The arm can move, but I want to change the velocity so that it can move faster.
At the moment, setting set_max_velocity_scaling_factor(0.1) with a smaller number can slow down the motion, but using a bigger number cannot speed up the motion.

Hi @marian

Are you running the OMP with MoveIt?
If the increased velocity doesn’t affect the speed of the motion, it is likely that it has reached to the max velocity available for the manipulator.
In case of PH series, their max RPM is usually around 30 when not loaded.