Open 5567655 opened 2 years ago
@5567655
[KhiRobotKrnxDriver] krnx_PrimeRtcCompData returned -0x100A.
0x100A is KRNX_E_COMPDATA.
[KhiRobotKrnxDriver] [krnx_PrimeRtcCompData] ano:1 [jt]pos:vel:status [1]0.5409:-6.4577:4 [2]0.5024:-5.4118:4 [3]-1.8867:7.1589:4 [4]-0.0370:7.3907:4 [5]-0.7202:9.5992:4 [6]-0.4874:1 7.4532:4
Status 4 indicates that the speed (diff) of the joint command exceeds the robot's limit. (about error)
I think that it was exceeded in the interpolation process.
So please reduce the max_velocity
of rs007l_joint_limits.yaml
.
I want to use Cartesian Force Controller with this robot. How and where do I begin?
In
rs007_bringup.launch
I added the following lines:but I get the following error:
Any help would be appreciated