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Kinovarobotics / ros2_kortex

ROS2 driver for the Gen3 Kinova robot arm
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Moveit servo node #168

Closed skpawar1305 closed 10 months ago

skpawar1305 commented 1 year ago

with the provided servo.yaml, after changing ee_frame_name: tool_frame -> end_effector_link command_out_topic: /position_controller/joint_trajectory -> /joint_trajectory_controller/joint_trajectory with low_latency_mode: true (gamepad publishes at 20 hz) it shakes a lot while moving. to compensate for that, if I change to low_latency_mode: false, with publish_period: 1/100, it says that very close to singularity very often, and just moves down (without further input) has anyone used servo node with gen3?

moriarty commented 1 year ago

Yes actually we didn't include a launch file or instructions for Servo because we intend to fix servo for this upstream in MoveIt. Other Arms do internal filtering which is why you don't see shaking on the other arms, but the Kinova is following the commands as output by Servo.

skpawar1305 commented 10 months ago

https://github.com/ros-planning/moveit2/pull/2594 looks like this is solved?

skpawar1305 commented 10 months ago

it indeed fixes this issue👍