{"action":"opened","issue":{"url":"https://api.github.com/repos/rst-tu-dortmund/pxpincher_ros/issues/1","labels_url":"https://api.github.com/repos/rst-tu-dortmund/pxpincher_ros/issues/1/labels{/name}","comments_url":"https://api.github.com/repos/rst-tu-dortmund/pxpincher_ros/issues/1/comments","events_url":"https://api.github.com/repos/rst-tu-dortmund/pxpincher_ros/issues/1/events","html_url":"https://github.com/rst-tu-dortmund/pxpincher_ros/issues/1","id":117638433,"number":1,"title":"Jerky movement","user":{"login":"croesmann","id":4332529,"avatar_url":"https://avatars.githubusercontent.com/u/4332529?v=3","gravatar_id":"","url":"https://api.github.com/users/croesmann","html_url":"https://github.com/croesmann","followers_url":"https://api.github.com/users/croesmann/followers","following_url":"https://api.github.com/users/croesmann/following{/other_user}","gists_url":"https://api.github.com/users/croesmann/gists{/gist_id}","starred_url":"https://api.github.com/users/croesmann/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/croesmann/subscriptions","organizations_url":"https://api.github.com/users/croesmann/orgs","repos_url":"https://api.github.com/users/croesmann/repos","events_url":"https://api.github.com/users/croesmann/events{/privacy}","received_events_url":"https://api.github.com/users/croesmann/received_events","type":"User","site_admin":false},"labels":[],"state":"open","locked":false,"assignee":null,"milestone":null,"comments":0,"created_at":"2015-11-18T17:31:21Z","updated_at":"2015-11-18T17:31:21Z","closed_at":null,"body":"The transition of servos is jerky if used in combination with the joint trajectory following controller.\r\nSince the joint trajectory following controller is configured to use the position interface of the robot, no PID gain values can be specified.\r\nChanging the rate of the pxpincher node did not improve it significantly. \r\n\r\nBut if used with the joint trajectory interface gui:\r\n     \r\n     rosrun rqt_joint_trajectory_controller rqt_joint_trajectory_controller \r\n\r\nThe movement is slowly. They send the message using the command interface instead of the action controller and update their values frequently. Therefore it could depend on the number of interpolated samples of the resulting trajectory."}}