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IFL-CAMP / iiwa_stack

ROS integration for the KUKA LBR IIWA R800/R820 (7/14 Kg).
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Using the IIWA Med 7 #237

Closed JimmyDaSilva closed 4 years ago

JimmyDaSilva commented 4 years ago

Hi fellow IIWA users!

I started using this package only a week ago. So I am definitely not an expert here and might do something wrong.

I successfully managed to start the SmartServo app to connect my ROS computer to the Sunrise Med Cabinet. But, when trying to move the robot with the moveit launch, I get to the target at the end with jerky movements. Also, when starting the HandGuidedMode via the toolbar, the robot falls (axis 4 drops). I know the IIWA 7 and IIWA 7 MED differ in weights (+3kg overall), but I do not have the details.

So I have a few questions to try solving this: 1/ Is the falling behavior normal and common to all models during HandGuidedMode? 2/ If not, I do not understand because I thought this mode was just calling directly a KUKA function ( so should handle the robot model) 3/ Can a different clock on the two computers be a problem? 4/ If this actually uses the inertias and masses set in the URDF for the iiwa7 model, does anyone have the correct ones for the IIWA Med 7?

Any help from someone who's using the medical models of the IIWA would be very much appreciated =)

Thanks for this great package. It was surprisingly easy to start moving the robot and sync it to ROS.

Cheers, Jimmy

JimmyDaSilva commented 4 years ago

I think I have partially solved the issue and will close it. The falling and jerky motions are two different problems.

1/ It is falling because the default 0.7 of damping for the FakeHandGuiding mode is not enough to support its weight for this version I guess. As I said I know the Med version is 3kg heavier.

2/ I guess the jerky motions when using moveit is mostly due to the difference in the models. (Or I hope...)

If someone using the Med version happens to have the correct model, please contact me :)

Cheers, Jimmy

JimmyDaSilva commented 4 years ago

1/ Falling actually happened to me because the torques sensors are not well calibrated.

2/ Jerkiness is probably caused by a communication issue.