UR5e Joint Velocity Not Reaching Commanded Values

[PrakritTyagi]

Hello everyone,

I'm working with a UR5e robot using ROS 2 Humble and the UR ROS 2 driver (humble branch). I’ve been experimenting with publishing velocity commands to the robot using forward velocity controller, but I’m noticing an issue where the joint state velocity does not reach the commanded velocity. Even when I change the command velocity, the actual joint velocity does not seem to follow as expected.

I've attached a graph below showing the behavior for just one joint. The red line represents the commanded velocity (/forward_velocity_controller/commands/data[5]), while the green line shows the actual joint state velocity (/joint_states/wrist_3_joint/velocity). As you can see, the joint state velocity remains significantly lower than the command velocity and does not track it accurately.

Details:

ROS 2 Distribution: Humble
UR ROS 2 Driver Branch: humble
Robot: UR5e
Observed Issue: Joint state velocity is not reaching the commanded values despite changes in the command.
Questions:

Has anyone else encountered this issue, especially with the UR5e or similar UR robots on ROS 2 Humble?
Are there any tuning parameters or configurations in the UR ROS 2 driver that might improve the tracking accuracy of the joint velocity?
Could this issue be related to the controller configuration, hardware limitations, or any safety limitations set in the UR driver?
Any insights or suggestions on how to troubleshoot this would be greatly appreciated!

Thank you!