I know it has been quite a while since this project was posted, but I believe there's no harm in asking for help :)
Currently, I am working with a controller that uses hardware_interface::EffortJointInterface. The robot works with JOINTIMPEDANCE strategy `device->doJntImpedanceControl(device_->getMsrMsrJntPosition(), newJntStiff, newJntDamp, newJntAddTorque, false);. The calculated command joint torques are set throughjointhandles[i].setCommand(tau_cmd(i)); ` However, if tau_cmd exceeds the range of -1.0 to +1.0, the hardware drives' contactor will shut off and display a warning: 'LR:FRI cmd.addJntTrq not properly initialized' along with an 'FRI Interpolation error'. When tau_cmd is within the specified range, the robot joints can rotate, but sometimes it struggles to overcome friction."
PS: I have carefully gone through issue #67 , and I believe it is some other issue causing my problem.
@marcoesposito1988 @carlosjoserg @hamalMarino @teiband
Any help is appreciated!! Many thanks!! Many thanks!! Many thanks!!
Regards
Greeting!
I know it has been quite a while since this project was posted, but I believe there's no harm in asking for help :) Currently, I am working with a controller that uses hardware_interface::EffortJointInterface. The robot works with JOINTIMPEDANCE strategy `device->doJntImpedanceControl(device_->getMsrMsrJntPosition(), newJntStiff, newJntDamp, newJntAddTorque, false);
. The calculated command joint torques are set throughjointhandles[i].setCommand(tau_cmd(i)); ` However, if tau_cmd exceeds the range of -1.0 to +1.0, the hardware drives' contactor will shut off and display a warning: 'LR:FRI cmd.addJntTrq not properly initialized' along with an 'FRI Interpolation error'. When tau_cmd is within the specified range, the robot joints can rotate, but sometimes it struggles to overcome friction." PS: I have carefully gone through issue #67 , and I believe it is some other issue causing my problem.@marcoesposito1988 @carlosjoserg @hamalMarino @teiband Any help is appreciated!! Many thanks!! Many thanks!! Many thanks!! Regards