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MingshanHe / Compliant-Control-and-Application

Compliant Control: 1) admittance control algorithm 2) impedance control algorithm 3) hybrid force&position algorithm in robotic arm (Universal Robot).
https://mingshanhe.github.io/Compliant-Control-and-Application/
MIT License
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urdf添加力传感器 #12

Open Ericyang111 opened 2 years ago

Ericyang111 commented 2 years ago

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 the urdf 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？

MingshanHe commented 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

Ericyang111 commented 2 years ago

谢谢您的回复，还有一个问题，您的

  1. Hybrid Position Force Control
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！
MingshanHe commented 2 years ago

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。

  1. 加载问题可能是由launch文件导致，建议查看launch文件
  2. waiting for the state 可能是话题名字不对，可以查看源代码或者launch文件
  3. 话题发布 建议用tab键补全，谢谢 祝你好运~
Ericyang111 commented 2 years ago

感谢您的耐心回复，谢谢，也祝您生活愉快~

LiTaobate commented 1 year ago

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..，

Ericyang111 commented 1 year ago

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..，

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