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Add note about TEM #1136

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Oct 10, 2024
Merged

Add note about TEM #1136

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abb0753
Add note about TEM
fmauch Oct 9, 2024
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Apply suggestions from code review
fmauch Oct 9, 2024
6704f2e
Update wording
fmauch Oct 9, 2024
bf24ed4
Rephrase reasoning for disabling TEM
fmauch Oct 9, 2024
d5a1822
Update formatting and config file comment
fmauch Oct 9, 2024
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13 changes: 13 additions & 0 deletions ur_moveit_config/doc/index.rst
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Expand Up @@ -23,3 +23,16 @@ interaction using

Now you should be able to use the MoveIt Plugin in rviz2 to plan and execute trajectories with the
robot as explained `here <https://moveit.picknik.ai/main/doc/tutorials/quickstart_in_rviz/quickstart_in_rviz_tutorial.html>`_.

.. note::
Usually, MoveIt uses trajectory execution monitoring (TEM). If executing a trajectory takes too long,
e.g. because the action server died or the robot is blocked, this will lead to an error in
trajectory execution. However, with the scaled joint trajectory controller used by this driver,
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this doesn't make much sense (as long as TEM is not aware of the scaling), as execution time can
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be unbounded on purpose. Hence, TEM is disabled in the example moveit configuration:
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.. literalinclude:: ../config/moveit_controllers.yaml
:language: yaml
:start-at: trajectory_execution:
:end-at: execution_duration_monitoring
:caption: moveit_controllers.yaml
7 changes: 7 additions & 0 deletions ur_robot_driver/doc/usage/move.rst
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Expand Up @@ -67,4 +67,11 @@ To test the driver with the example MoveIt-setup, first start the driver as desc
Now you should be able to use the MoveIt Plugin in rviz2 to plan and execute trajectories with the
robot as explained `here <https://moveit.picknik.ai/main/doc/tutorials/quickstart_in_rviz/quickstart_in_rviz_tutorial.html>`_.

.. note::
Usually, MoveIt uses trajectory execution monitoring (TEM). If executing a trajectory takes too long,
e.g. because the action server died or the robot is blocked, this will lead to an error in
trajectory execution. However, with the scaled joint trajectory controller used by this driver,
this doesn't make much sense (as long as TEM is not aware of the scaling), as execution time can
be unbounded on purpose. Hence, TEM is disabled in the example moveit configuration.

For more details, please see :ref:`ur_moveit_config`.
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