Joint velocity profiles with strong noise

asked 2021-04-26 15:43:55 -0600

th123 gravatar image

Hello, I am working on a Gazebo simulation of the Franka Emika Panda. I am working with a joint_trajectory_controller and I am publishing several trajectory_msgs after each other via MATLAB. Each message contains only one point with joint positions and velocities specified.

The joint position profiles in Gazebo visualized in rqt are very smooth and look like the desired ones: image description

However, the joint velocity profiles are very bad, as you can see here: image description

Has anybody an idea where this strong noise can come from? I am really confused why the position profiles look very good, but the velocity profiles don't. I would be very happy for any kind of help.

Thanks, Thilo

P.S. Ubuntu 18.04, ROS Melodic, Gazebo 9.17.0

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