is "dv = current_vel+last_vel " should be modified to "dv = current_vel - last_vel" in industrial_robot_simulator package file

[dbdxnuliba]

in industrial_robot_simulator package the pyhon file

 def accelerate(self, last_pt, current_pt, current_time, delta_time):
        intermediate_pt = JointTrajectoryPoint()
        #rospy.logerr("debug : enter accelerate() in industrial_robot_simulator")

        for last_joint, current_joint, last_vel, current_vel in zip(last_pt.positions, current_pt.positions, last_pt.velocities, current_pt.velocities):
            delta_x = current_joint-last_joint
            dv = current_vel+last_vel

is "dv = current_vel+last_vel " should be modified to "dv = current_vel - last_vel"

[gavanderhoorn]

From a quick look it looks like you could be right.

Could you submit a PR?

[dbdxnuliba]

but the result about "delta_x = current_joint+last_joint" is better than "delta_x = current_joint-last_joint"
may be your raw code is right