Open urospopovic1996 opened 3 months ago
The Interbotix Python-ROS 2 API backend has undergone some changes recently that should solve this issue. Please update all repos to their latest commits, rebuild your workspace, and check out the updated bartender.py script for usage information.
Let us know if you run into any issues or have any questions.
What happened?
I have started working on wx250s robot again after some time (previous activity was last summer), so I installed Ubuntu 22.04 on new machine and followed ROS 2 Standard Software Setup (https://docs.trossenrobotics.com/interbotix_xsarms_docs/ros_interface/ros2/software_setup.html). But, it seems that there are some issues related to set_ee_cartesian_trajectory function now. Robot is doing movement until half of the trajectory and then suddenly stops, and after some time completes the whole trajectory. I tried with different values for function parameters moving_time, wp_moving_time, wp_accel_time and wp_period, in order to increase/decrease number of waypoints that needs to be calculated, but every time robot stops at the half of the trajectory, and then completes the whole movement after some time. Examples that I tried are some of my own scripts, but I also tried with bartender.py script and the robot is not behaving like in simulation.
This was not the issue back in the summer, so this is what I tried:
After doing these steps, the issue is no longer present and set_ee_cartesian_trajectory function is working properly. So I assume that there were some changes in these repositories in the meantime that are causing the issue.
Changes that are made in the modified install script: Instead of lines 314-316, these lines are added:
Robot Model
wx250s
Operating System
Ubuntu 22.04
ROS Distro
ROS 2 Humble
Steps To Reproduce
In one terminal, run the following command:
By setting logging level to DEBUG, I was able to see what commands are sent to robot motors and that is how I found out that the robot stops moving exactly at half of the trajectory.
In second terminal, run the following command:
Relevant log output
No response
Additional Info
No response