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Suggestion to fix bug in updating speed/acceleration parameters #23

Closed Landau0323 closed 5 years ago

Landau0323 commented 5 years ago

What happened

I tried to update the speed limit of VS-068, following the procedure written in http://wiki.ros.org/denso_robot_ros/AcquireVelAcc . After that, I tested whether the speed limit was correctly updated by doing roslaunch denso_robot_bringup vs068_bringup.launch sim:=false ip_address:=192.168.0.1 which resulted that, the robot didn't move fast, indicating that the speed limit was not updated.

Then I checked vs068_config/joint_limits.yaml, and found that spaces between colon and argument value are missing. For example, joint_1: has_velocity_limits:true max_velocity:3.92699081698724 has_acceleration_limits:true max_acceleration:19.7335651876739 should be corrected like joint_1: has_velocity_limits: true max_velocity: 3.92699081698724 has_acceleration_limits: true max_acceleration: 19.7335651876739 After adding spaces in this file, the robot moved fast and the speed limit was correctly updated.

What I suggest

Update update_joint_limits.py so that the spaces are correctly inserted when doing rosrun denso_robot_bringup update_joint_limits.py vs068 ~/joint_limits.yaml.

ToshitakaSuzuki commented 5 years ago

Thank you for your suggestion. We will fix update_joint_limits.py and also AcquireVelAcc as soon as possible.

ToshitakaSuzuki commented 5 years ago

@Landau0323 I updated!

Landau0323 commented 5 years ago

Thanks a lot! Where can I get the new version of AcquireVelAcc?

DensoWaveRobot commented 5 years ago

You can get the new version here. https://www.denso-wave.com/en/robot/download/application/j1w3.html Ver.3.58.0(07/08/2019) or later http://wiki.ros.org/denso_robot_ros/AcquireVelAcc