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DENSORobot / denso_robot_ros

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Controlling the speed of the joints, not the position #55

Closed yamachaso closed 2 years ago

yamachaso commented 2 years ago

I'm thnking of controlling the joint by velocity not position. At this time, I'm considering that acquiring position information and incrementing or decrementing the value according to the speed command. But I don't think it's smart.

Reading the source code, I found that position control is performed in the following part. https://github.com/DENSORobot/denso_robot_ros/blob/2b6aea04d8cd080e2d2bcd97da641dace6f63667/denso_robot_control/src/denso_robot_hw.cpp#L415

Is there a method implemented to control the speed? Also, I would appreciate if there are any other methods or ideas other than the above. Thank you.

DensoWaveRobot commented 2 years ago

I'm sorry for inconvenient. We don't plan to develop the speed command or parameter. Denso robot receives position information and move there at regular intervals(8ms) when it is slave mode. Please adjust position operation according to required speed as you said.

yamachaso commented 2 years ago

Thank you for your reply! I understand.