Servo node

[fzoric8]

Hi,

Thanks for the awesome repository.

I'm wondering how can I easily use servo_node, I've initialized it, and I'm recieving commands on:

joint_trajectory_controller/joint_trajectory

However, arm remains stationary.

Arm moves when I publish on follow joint trajectory action, however it remains stationary when publishing servo commands.

Thank you for your help!

[AndrejOrsula]

Hello @fzoric8,

Did you call the /servo_node/start_servo service?

Here is one example: pymoveit2/moveit2_servo.py#L141-L167

[AndrejOrsula]

And a demo: pymoveit2/examples/ex_servo.py

[fzoric8]

@AndrejOrsula, I really appreciate fast response.

After calling service, it works like charm!

Thank you for your help :)

On the side note, have you tried running this on real robot?

Closing issue because it is solved! Thanks

[AndrejOrsula]

..., have you tried running this on real robot?

Not on a real Franka robot. Only on Kinova j2s7s300. It required a lot of servo parameter tuning but worked okay-ish.

[fzoric8]

Did you use position or velocity controller?

Because when I used position in moveit1 it is quite laggy.

I'm not really sure how complex is ros2_control but I'll try to test it on Kinova and Franka.

Thanks for your repo, you saved me a lot of time :1st_place_medal:

[AndrejOrsula]

Position control. It was with ros1_bridge in the loop, using MoveIt 2 but ROS 1 controllers.