The robot stays stiff either after running gravity_compensated_mode.py and getting "Starting gravity compensation mode" or after executing rosservice call /j2n6s300_driver'/in/start_force_control
Version
ROS distribution : ROS Noetic on Ubuntu 20.04 with my JACO robot (j2n6s300)
Branch and commit you are using : noetic-devel branch
Steps to reproduce
I first run the roslaunch kinova_bringup kinova_robot.launch to make connection with the robot, and everything looks fine:
auto-starting new master
process[master]: started with pid [116717]
ROS_MASTER_URI=http://localhost:11311
setting /run_id to 48712088-c222-11ee-a68b-1f6a56f1e13b
process[rosout-1]: started with pid [116728]
started core service [/rosout]
process[j2n6s300_driver-2]: started with pid [116731]
process[j2n6s300_state_publisher-3]: started with pid [116732]
[ INFO] [1706916301.890937056]: kinova_robotType is j2n6s300.
[ INFO] [1706916301.892297183]: kinova_robotName is j2n6s300.
[ INFO] [1706916301.930451114]: Initializing Kinova USB API (header version: 50300, library version: 5.2.0)
[ INFO] [1706916307.092342637]: Found 1 device(s), using device at index 0 (model: ???? , serial number: 000000000000 , code version: 393736, code revision: 0)
[ INFO] [1706916307.164319807]: Initializing fingers...this will take a few seconds and the fingers should open completely
[ INFO] [1706916319.101602544]: The arm is ready to use.
j2n6s300_joint_1 j2n6s300_joint_2 j2n6s300_joint_3 j2n6s300_joint_4 j2n6s300_joint_5 j2n6s300_joint_6
2. Then I run the gravity_compensated_mode.py and the robot succeeds to move the candle-like pose, but it stay stiffs after getting "Starting gravity compensation mode" util the processes ends. I can not manually moved the robot but no errors occurred so I did not know what was going wrong.
[ WARN] [1706916825.409749095]: void kinova::KinovaAnglesActionServer::actionCallback(const ArmJointAnglesGoalConstPtr&): LINE 163, Trajectory command failed
[ WARN] [1706916828.574147905]: Torques for all joints set to zero
[ INFO] [1706916839.863505659]: Setting torque safety factor to 1.000000
[ INFO] [1706916839.873394469]: Switching to torque control
[ INFO] [1706916939.886861918]: Switching to position control
rosrun kinova_demo gravity_compensated_mode.py j2n6s300
Moving robot to candle like position, and setting zero torques, press return to start, n to skip
Setting torques to zero, press return
torque before setting zero
Torque - 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0
torque after setting zero
Torque - 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0
Starting gravity compensation mode
max error 0.0 0.0 0.0 0.0 0.0 0.0 0.0
Done!
3. Then I run and get:
rosservice call /j2n6s300_driver/in/start_force_control
start_result: "Start force control requested."
but still fail to move the robot by hand.
4. And when I use rosservice for torque control:
rosservice call /j2n6s300_driver/in/set_torque_controparameters
result: ''
rosservice call /j2n6s300_driver/in/set_torque_control_mode 1
rostopic pub -r 100 /j2n6s300_driver/in/joint_torque kinova_msgs/JointTorque "{joint1: 0.0, joint2: 0.0, joint3: 0.0, joint4: 0.0, joint5: 0.0, joint6: 10.0}"
Nothing happened.
## Any other information
Could you please kindly offer help in this problem? The robot is in a vertical position.
By the way, where can I download the SDK for JCAO2 on Ubuntu 20.04? so that I could use the Development Center for torque control.
Description
The robot stays stiff either after running gravity_compensated_mode.py and getting "Starting gravity compensation mode" or after executing
rosservice call /j2n6s300_driver'/in/start_force_control
Version
ROS distribution : ROS Noetic on Ubuntu 20.04 with my JACO robot (j2n6s300)
Branch and commit you are using : noetic-devel branch
Steps to reproduce
roslaunch kinova_bringup kinova_robot.launch
to make connection with the robot, and everything looks fine:NODES / j2n6s300_driver (kinova_driver/kinova_arm_driver) j2n6s300_state_publisher (robot_state_publisher/robot_state_publisher)
auto-starting new master process[master]: started with pid [116717] ROS_MASTER_URI=http://localhost:11311
setting /run_id to 48712088-c222-11ee-a68b-1f6a56f1e13b process[rosout-1]: started with pid [116728] started core service [/rosout] process[j2n6s300_driver-2]: started with pid [116731] process[j2n6s300_state_publisher-3]: started with pid [116732] [ INFO] [1706916301.890937056]: kinova_robotType is j2n6s300. [ INFO] [1706916301.892297183]: kinova_robotName is j2n6s300. [ INFO] [1706916301.930451114]: Initializing Kinova USB API (header version: 50300, library version: 5.2.0) [ INFO] [1706916307.092342637]: Found 1 device(s), using device at index 0 (model: ???? , serial number: 000000000000 , code version: 393736, code revision: 0) [ INFO] [1706916307.164319807]: Initializing fingers...this will take a few seconds and the fingers should open completely [ INFO] [1706916319.101602544]: The arm is ready to use. j2n6s300_joint_1 j2n6s300_joint_2 j2n6s300_joint_3 j2n6s300_joint_4 j2n6s300_joint_5 j2n6s300_joint_6
[ WARN] [1706916825.409749095]: void kinova::KinovaAnglesActionServer::actionCallback(const ArmJointAnglesGoalConstPtr&): LINE 163, Trajectory command failed [ WARN] [1706916828.574147905]: Torques for all joints set to zero [ INFO] [1706916839.863505659]: Setting torque safety factor to 1.000000 [ INFO] [1706916839.873394469]: Switching to torque control [ INFO] [1706916939.886861918]: Switching to position control
rosrun kinova_demo gravity_compensated_mode.py j2n6s300 Moving robot to candle like position, and setting zero torques, press return to start, n to skip Setting torques to zero, press return torque before setting zero Torque - 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 torque after setting zero Torque - 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 Starting gravity compensation mode max error 0.0 0.0 0.0 0.0 0.0 0.0 0.0 Done!
rosservice call /j2n6s300_driver/in/start_force_control start_result: "Start force control requested."