Kuka LCMRobotInterface not properly using joint_relative_velocity and joint_relavitve_acceleration data

[dmcconachie]

I can't tell any difference in the motion when using relative vel/accel values of 0.005 vs 1; so I suspect something is not doing what we want it to.

[dmcconachie]

@bsaund Have you played around with these at all recently?

[bsaund]

I have noticed a different changing that param...
Lets look into it more after Tuesday

[bsaund]

Reviving this thread
I do notice a difference using joint_relative_velocity. After significant testing, I am confident this param is working properly

I do not notice any difference when setting the joint_relative_acceleration.
I was using the script calc_kuka_max_joint_speeds in arm_robots (currently Cleanup branch, not master)

I have verified that joint_relative_acceleration is indeed being set in the Sunrise java code, and that it reports back the value I set. I have also tried setting the override_joint_acceleration parameters, with no effect.

According to the Kuka Documentation, both of these parameters should affect our SmartServo's motion

Next step is to reach out to Kuka