Document various online signal smoothing algorithms #1014
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AndyZe
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sea-bass
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Jan 27, 2025
sea-bass
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sea-bass
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sea-bass
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| `online_signal_smoothing::RuckigFilterPlugin`: This uses the well-known Ruckig library to ensure robot motions always obey joint and acceleration limits. Read more at https://github.com/moveit/moveit2/pull/2956 | ||
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| Benefits: The smoothest option. Required for certain industrial robots. |
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Might be good to clarify this is the smoothest in the joint/actuator space, but not necessarily Cartesian/task space (the drawback is something you already mention in less technical terms below)
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Don't necessarily agree, it's still smooth in Cartesian space. Just doesn't necessarily move in the desired direction.
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Sorry, one more optional comment. It might be useful to say that these plugins are... well, plugins, and that users can also create their own for more advanced/custom use cases. |
AndyZe
commented
Jan 27, 2025
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| `online_signal_smoothing::RuckigFilterPlugin`: This uses the well-known Ruckig library to ensure robot motions always obey joint and acceleration limits. Read more at https://github.com/moveit/moveit2/pull/2956 | ||
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| Benefits: The smoothest option. Required for certain industrial robots. |
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Don't necessarily agree, it's still smooth in Cartesian space. Just doesn't necessarily move in the desired direction.
AndyZe
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Jan 27, 2025
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