Cartesian angular velocity is small

[Wang-Ruohan]

Hello, I'm seeking for the method to turn up the speed for my kinova arm. My kinova arm is KINOVA JACO2 (6 DoF, Spherical); My ROS system is ROS kinetic. I have two same type of kinova arms. Both are set to the maximum cartesian velocity of 0.2m/s using the software offered by kinova. They all move well in cartesian position velocity control by using the topic command:

rostopic pub -r 100 /right_arm_driver/in/joint_velocity kinova_msgs/JointVelocity "{joint1: 0.0, joint2: 0.0, joint3: 0.0, joint4: 0.0, joint5: 0.0, joint6: 10.0, joint7: 0.0}"

Meaning that joint6 is rotating at the speed of 10 degrees/s. However, when i send :

rostopic pub -r 100 /right_arm_driver/in/cartesian_velocity kinova_msgs/PoseVelocity "{twist_linear_x: 0.0, twist_linear_y: 0.0, twist_linear_z: 0.0, twist_angular_x: 0.0, twist_angular_y: 0.0, twist_angular_z: 10.0}"

to the right arm, and:

rostopic pub -r 100 /left_arm_driver/in/cartesian_velocity kinova_msgs/PoseVelocity "{twist_linear_x: 0.0, twist_linear_y: 0.0, twist_linear_z: 0.0, twist_angular_x: 0.0, twist_angular_y: 0.0, twist_angular_z: 10.0}"

to the left arm. The joint6 of left arm moves at a significantly slower speed compaired to right arm. Note that I have set the two arms in a same pose. Also, I have tried to operated the arm via joystick, it have the same performance as it mentioned above. I have tried to update the firmware, but it didn't help. Any help and guidance would be very appreciated. Thanks!

[felixmaisonneuve]

Hi @Wang-Ruohan,

Can you compare the velocity limits from the Monitoring page of the Development Center app? Maybe you could send a screenshot as well

Note: All my values are 0 because I am not connected to an arm.

Best, Felix

[Wang-Ruohan]

Thank you for your kind suggestion. I checked my virtual joystick setting and finally found the cartesian orientation velocity is small. When i turn the number up, the problem solved.

[felixmaisonneuve]

Great, I will close this issue then.

Best Regards, Felix