Robot Jerking in RViz

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1

Hello,

Currently I am doing the project part and just setup UR3e robot with Moveit setup assistant. However, when I launch the demo file, i.e., demo.launch, I saw the robot jerking (move up and down very fast) in RViz. From the terminal, I saw that there is a warning:

“TF_REPEATED_DATA ignoring data with redundant timestamp for frame wrist_3_link at time 565.768000 according to authority unknown_publisher”

Is the jerking happened because of the warning above?

2

Looks like you might have more than 1 entity publishing the joint states. Look for robot_state_publisher or joint_state_publisher in your launch files, and try deleting one to see if the jerking stops.

3

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