Open Ericyang111 opened 2 years ago
有可能是注释掉了,因为在虚拟环境中无法产生人机交互的情况,例如拖拽使得传感器产生数值变化。但是我敢肯定之前的一些版本中存在能够读取末端六维力数据的urdf
希望你可以查找过去release的文件,或者尝试从网上寻找解决方案
谢谢您的回复,还有一个问题,您的
roslaunch ur_gazebo ur5e_bringup.launch transmission_hw_interface:=hardware_interface/PositionJointInterface specified_controller:=cartesian_velocity_controller environment:=polish
roslaunch hybrid_position_force_control hybrid_position_force_control.launch
And then it needs to use the topic publish command in the terminal. It is recommended to move to the pose [-0.1, 0.3, 0.3, 0.707, -0.707, 0.0, 0.0].
rostopic pub /desired_carteisan_pose_cmd geometry_msgs/Pose "position: x: -0.10 y: 0.30 z: 0.30 orientation: x: 0.707 y: -0.707 z: 0.0 w: 0.0"
我运行后有几个问题,
1运行后,word文件夹下的polish.world等文件没有加载,gazebo中只有一个机械臂
2运行完roslaunch hybrid_position_force_control hybrid_position_force_control.launch这条命令后一直提示我Waiting for the state of the arm..,
3命令rostopic pub /desired_carteisan_pose_cmd geometry_msgs/Pose "position: x: -0.10 y: 0.30 z: 0.30 orientation: x: 0.707 y: -0.707 z: 0.0 w: 0.0" 在ubuntu18.04,ros melodic下有问题,正确格式应该是rostopic pub /desired_carteisan_pose_cmd geometry_msgs/Pose "{position: {x: 0.10, y: 0.30, z: 0.30}, orientation: {x: 0.707,y: -0.707, z: 0.0,w: 0.0}}",但我用这条命令发送也不行,期待您的回复,谢谢!
Hybrid Position Force Control 后边描述了此功能不在维护,在多次删改程序的过程中,没有考虑到该功能,所以在当前版本中至留下了导纳,阻抗和小车一起的混合柔顺控制,所以请原谅我无法给出明确的解决问题方案。
感谢您的耐心回复,谢谢,也祝您生活愉快~
中也 您好,上述问题您是否解决了,我在复现过程中也遇到了同样的问题,运行完roslaunch hybrid_position_force_control hybrid_position_force_control.launch这条命令后一直提示我Waiting for the state of the arm..,
您好,很遗憾上述问题俺也没解决= =
李涛 @.***> 于2023年4月21日周五 17:47写道:
中也 您好,上述问题您是否解决了,我在复现过程中也遇到了同样的问题,运行完roslaunch hybrid_position_force_control hybrid_position_force_control.launch这条命令后一直提示我Waiting for the state of the arm..,
— Reply to this email directly, view it on GitHub https://github.com/MingshanHe/Compliant-Control-and-Application/issues/12#issuecomment-1517569745, or unsubscribe https://github.com/notifications/unsubscribe-auth/AZ7OAERV3RQJZKHCB7FKUMLXCJJTXANCNFSM56P7DMJQ . You are receiving this because you authored the thread.Message ID: @.*** com>
您好,您在readme文件中说In this repository, I have used ur5e robot and its
urdf
file need to be changed in different situation, like need or not a force/torque sensor in the end effector. Please check theurdf
file seriously and run the algorithm, Thanks.我尝试给机械臂添加力传感器,但都失败了,请问您有相关资料或者是有添加了力传感器的urdf文件吗?