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IFL-CAMP / iiwa_stack

ROS integration for the KUKA LBR IIWA R800/R820 (7/14 Kg).
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Working with SmartServo ActionGoals #174

Open JerryKayson opened 5 years ago

JerryKayson commented 5 years ago

Hello!

I'm trying to get the iiwaActionServer working but I'm not getting anywhere and neither is my IIWA.

target3 is a valid geometry_msgs::Pose validated by navigating to it directly with SmartServo, but doing the same with an Action doesn't work - despite trying the tip given by exoCore here to initate with a joint_command.

On the smartPAD I just get Publishing curret goal reached: /iiwa/myNode-blablablah

Is there a common format/template for using the ActionServer? I also tried setting the goal to iiwa:s currentPose with position.x+=0.1 and such with no success

Screenshot from 2019-05-22 16-26-05

SalvoVirga commented 5 years ago

Please check the example you find here.