Regulate robot speed - Robot too slow during the executions with EGM

[kappa95]

Hello community,

I started to use the the libraries with ROS Melodic and with another Windows PC with Robotstudio with the virtual controller set up with the Add-in StateMachine 1.0 (Robotware version 6.08.00). I am able to execute the examples of the repository abb_robot_bringup_examples. The issue is that the robot is moving very slow, it takes "hours" to reach positions.
I have tried also the examples found in this issue: create code samples and executing the example a1 of the joint trajectory position in the following way:
Firstly execute from main the StateMachine programs on the robot controller
Terminal 1: roscore
Terminal 2: rosrun libegm_samples a1_joint_trajectory_node
Terminal 3: rosservice call /rws/sm_addin/start_egm_joint "{}"

[gavanderhoorn]

Have you changed the value of \MaxSpeedDeviation? By default it's set to a very low value.

This is also mentioned in the EGM manual, and in abb_egm_hardware_interface/README.md, the Motion (robot side settings) row.

If you were using abb_robot_driver, you could use the /rws/get_egm_settings and /rws/set_egm_settings services, discussed in ros-industrial/abb_robot_driver#16 (comment).

From your comment it isn't entirely clear to me whether you're using abb_libegm by itself, or as part of abb_robot_driver.

[kappa95]

No I haven't changed, I left the RAPID code provided by the StateMachine Add-in such it is provided. I have seen on the manual that is limiting the speeds up to 1 deg/s for EGM Joint and Poses, tomorrow I will try to modify it!

Regarding the libraries I am using "both". In the sense that the C++ code picked as example: (for joint trajectories), I have compiled it calling the abb_libegm such as in the CMakeList provided in the folder. And I have used the launcher roslaunch abb_robot_bringup_examples ex2_rws_and_egm_6axis_robot.launch robot_ip:=192.168.125.1 from the abb_robot_bringup_examples in the abb_robot_driver library for starting the EGM joint service. (Probably I misunderstood how abb_libegm and abb_robot_driver work and I did a mess).

[kappa95]

Thank you so much, Changing directly the RAPID variable DEFAULT_MAX_SPEED_DEVIATION in the initializeEGM procedure it moves.

[kappa95]

Dear community,

Regarding this topic, I have a question on how to control the speed of the motion given a smoother path.
The goal I want to achieve is that: given a smooth path of poses (with a certain discretization) and a target speed that i want to keep constant along the path which are the settings to use/method to compute them in order to have that speed.

Also I would like to understand better the methods: set_duration etc... for the object: abb::egm::wrapper::trajectory::PointGoal.
I have read the manuals about EGM application and the State-Machine Add-in but I don't find any hint.
I have seen in the library that EGM interpolation and I have noticed that it uses a spline of 5th order but no idea on how it has been used.

Thank you so much in advance