Modification needed for joint_movement.py

[watakandai]

https://github.com/HIRO-group/ros_robotic_skin/blob/master/scripts/joint_movement.py

1. Joints are in rad. Instead of commanding 1, it might be better to command pi/4, so that the angle rotates 45 degrees.
2. Need to ensure that the joint has reached the joint position which we commanded.

As @calebescobedo has commented, we do need to verify that the joint has reached the goal. I guess we need to subscribe to the current joint position and compute the error between the current joint position and the commanded joint position.

        pub_int.publish(joint_int)
        print('DoF Published')
        rospy.sleep(1) # Is there a better way to send this information?

[krishnachaitanya7]

Is this for franka or have to be done when doing simulation too?

[watakandai]

for both.

I assume JointTrajectory may not ensure that it has reached to the assigned goal. Maybe it does. I'm not sure. We do need to verify that the state, let's saytheta has reached theta_{command}. In order to do that we need to subscribe to the current position theta

[krishnachaitanya7]

Ahh, now I get it, that can be easily be done

[watakandai]

yep, thanks!

[krishnachaitanya7]

Is this still relevant @watakandai ?

[watakandai]

No, but we need to test if the controller can reach the desired position in a certain time. For panda, I found out that the PID controller implemented by panda_simulation is a shit. We need to tune the PID parameters and test them in the future

[krishnachaitanya7]

Okay I guess that tuning is a project in itself. Shall we make a different issue about it in the kanban board?

[watakandai]

Yes please

[krishnachaitanya7]

Done: https://github.com/HIRO-group/ros_robotic_skin/projects/1#card-34348630

[peasant98]

can we close this issue @watakandai ?

[watakandai]

👍

[peasant98]

cool