MoveIt Robot motion - Githubissues

Kawasaki-Robotics / khi_robot

ROS KHI robot meta-package

http://wiki.ros.org/khi_robot

BSD 3-Clause "New" or "Revised" License

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MoveIt Robot motion #47

Open elizatscott opened 3 years ago

elizatscott commented 3 years ago

While working with the real robot I am not getting a sequential motion like home > position1 > position2 > position3.... Instead I am getting motions like home > poistion1 > home > position2 > home > poisition3....

When checked with gazebo simulation it works correctly whereas when I am working with the real robot I am getting the error mentioned above.

d-nakamichi commented 3 years ago

Could you tell me the AS system software version which you use. You can check the version by Auxiliary function 0804 or Monitor command "ID".

elizatscott commented 3 years ago

d-nakamichi commented 3 years ago

To use our driver in F series, the robot controller's AS system should be higher than ASF_01000000W. (https://github.com/Kawasaki-Robotics/khi_robot/blob/master/docs/ConnectingRealRobot.md) Could you ask your KHI partner to upgrade AS system?

elizatscott commented 3 years ago

Still I could not get the required target motion. Instead I am getting motions like home > poistion1 > home > position2 > home > poisition3.... This is the motion that is happening still. These are my code snippets. I have connected the robot to the ubuntu through the vmware workstation. Does it have anything to deal with this ?

d-nakamichi commented 3 years ago

About,

home > position1 > home > position2 > home > poisition3....

If,

you set set_max_velocity_scaling_factor(0.1)
you set a home position which is not equal to [JT1:0 JT2:0 JT3:0 JT4:0 JT5:0 JT6:0]
the arm moves home(0) > position1 > home(1) > position2 > home(2) > poisition3...,

How is the motion position1 > home(1) like?

Is the motion speed same as the speed : velocity_scaling(0.1)?
Is home(1) same as home(0), or [JT1~6: 0]?

elizatscott commented 3 years ago

Yes! The motion speed is same as velocity scaling but it is maintained only during the motion of home > poisition 1 and not during poisition 1 > home. The home 1 is not same as home 0 but it is going near home 0

d-nakamichi commented 3 years ago

It seems to be a problem on khi_robot side. To reproduce your problem, let me know your system environment in detail.

Ubuntu/ROS version
Current AS system
khi_robot version or revision
Motion script: Is it same as https://github.com/Kawasaki-Robotics/khi_robot/issues/47#issuecomment-757865376 ?

elizatscott commented 3 years ago

I am using VMware for Ubuntu 16.04 ASF_010000019 THE SAME KHI ROBOT VERSION CURRENTLY IN THE GITHUB AND THE SAME MOTION SCRIPT @d-nakamichi