Open exo-core opened 5 years ago
Short update:
iiwa_hw
that was fixed in 44ca0f55b180817093e7c1ad944644d8606aadf4 I had set publishJointStates
to true
. However the messages on /iiwa/joint_states
do not contain velocity information. After turning it off all messages have velocity data again.iiwa_hw
. I still have to verify if this is also the case if a NTP server is used./joint_state
tends to get stuck sometimes. E.g. I rotated the last joint very slowly for about 300°. In between I had a phase where the joint position being published was the same for quite some time until there was I large jump in the value and I got correct values again.I am currently waiting to get the image to upgrade our iiwa to Sunrise 1.16. Once it is upgraded I will run some more tests.
So, after my first tests:
Hi,
I just noticed that in the latest version the velocities are missing on
/iiwa/joint_states
. The log below shows the output ofrostopic echo /iiwa/joint_states
. Initially all values are0.0
until theROSSmartServo
app ist started on the robot. After that the first couple of messages seem ok, but there are always some in between wherevelocity
is just[]
.Cheers,
Arne