Closed rtkg closed 5 years ago
Hey, I'll be running tests on the real robot tomorrow. I'll keep you updated on the results.
I just checked this pull request, and fixed some network parameters, to have yumi_support running properly with the left arm, right arm, and the grippers.
I also commented the ROS controllers action servers from MoveIt! controllers.yaml, so that its ready to use the left/righ arm controllers faster.
For running yumi_support we need industrial core MAX_NUM_JOINTS to be equal to 10. We should add a comment regarding this somewhere.
About the RWS interface to ROS control (not yumi_support), we haven't used it at KTH. Do you also want me to check it? Are we providing support for it?
Update: I set up the RWS interface, and tested it. It works well. The movement is kind of jerky when using a trajectory_position_controller, though, but I suppose this is due to the controller tuning. I committed all the recent changes just now.
Changes
TODO
Tested only in simulation - test on the actual robot with the launch files in yumi_launch; might need changes in yumi_support/yumi_hw