felixmaisonneuve
commented
1 year ago Hi @NAEE09,
The error you get is printed here : https://github.com/Kinovarobotics/kinova-ros/blob/93f66822ec073827eac5de59ebc2a3c5f06bf17f/kinova_driver/src/kinova_comm.cpp#L1389-L1407
Since you do not have a gripper, this API call will always fail, so you have to make sure this is never called in your driver.
The kinova_arm driver constantly ppublishes info about the arm, and I think this is were it fails.
This is the function in the driver that updates the topics of your ROS driver : https://github.com/Kinovarobotics/kinova-ros/blob/93f66822ec073827eac5de59ebc2a3c5f06bf17f/kinova_driver/src/kinova_arm.cpp#L759-L765
You need to remove the publishFingerPosition() function (that uses getFingerPositions) and you need to modify the publishJointAngles() function also.
In publishJointAngles(), remove every mention to fingers :
https://github.com/Kinovarobotics/kinova-ros/blob/93f66822ec073827eac5de59ebc2a3c5f06bf17f/kinova_driver/src/kinova_arm.cpp#L571-L572
If you remove all of this, your driver should be able to launch correctly.
For the kinovaComm::setCartesianPosition(), can you share a brief sample of your code? I am not sure I fully understand what you are doing
Regards, Felix
Hi, I'm using the kinova jaco arm (j2n6s300) without the gripper. As you mentioned in the readme of github "Cartesian position control can be realized by calling kinovaComm::setCartesianPosition()", I am trying to create a subscriber node to control the cartesian position with a PoseStamped message, inside the callback I initialized the Kinovacomm object, and my script is very similar to the pose action server, is there any easy way to implement this function "kinovaComm::setCartesianPosition()"?. On the other hand, the node works fine when I just run the ros master and the node, but I use the kinova with the Summit xl mobile robot and when I run the general launch of both robots , I get the following error:
[ERROR] [1325383471.209385925]:-KinovaCommException: Could not get Cartesian finger position (return code. 1015) [j2n6s300 driver-13] process has died [pid 4694, exit code -11, cmd/home/summit/kinova_ws/devel/lib/kinova_driver/kinova_arm_driver j2n6s300 /j2n6s300_driver/out/joint_state: =/joint_states __name:=j2n6s300_driver __log:=/home/summit/.ros/log/a905a0dc-341c-11e1-8518-54bef7887996/j2n6s300_driver-13*.log] log file: /home/summit/ros/log/a90/summit_xl_control/odom 5a0dc-341c-11e1-8518-54bef7887996/ j2n6s300_driver-13*.log [j2n6s300_driver-13] restarting process process[j2n6s300_driver-13]: starte /tf He name="tf_bd with pid [6708] [INFO] [1325383471.349557673]: kinova_robotType is j2n6s300. [INFO] [1325383471.353764109]: Initializing Kinova USB API (header version: 50308, library version: 5.2.0) [ERROR] [1325383471.387882694]: KinovaCommException: Could not send ba sic trajectory (return code: 2004)And the robot does not reach the desire pose. Also, it is important to mention, the action client of the demo works well with the general launch.
Any suggestion?
Thanks.