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ROBOTIS-GIT / open_manipulator_p

OpenManipulator-P for controlling in Gazebo and Moveit with ROS
Apache License 2.0
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open_manipulator_pro_teleop error! #27

Closed YDK18 closed 4 years ago

YDK18 commented 4 years ago

I experimented with gazebo and real hardware. However, a manipulator malfunction occurred. The control gui, keyboard control, and joystick control all have errors when the x value drops below (ex. 0.25). My guess seems to be an error in the inverse kinematics of the open manipulator msgs. I want a solution for this. Thank you, Please reply.

https://youtu.be/ytdMD7-c3MI

JaehyunShim commented 4 years ago

@YDK18

Thank you for reporting the bug. It should work now. Test it again and let us know the result

Regards, Ryan

Fred159 commented 4 years ago

@rjshim Hello I am the same team with @YDK18 . I just tested the latest code that uploaded 1 hour ago. However, there is still something wrong. Please refers to below link. https://www.youtube.com/watch?v=p-SLIsoBsak&feature=youtu.be With the modified code, it seems like manipulator does not hit the ground suddenly at x position at 0.240. Actually, I wonder why the manipulator moves like that ? But there is no feedback or error message. If arm can't reach the goal position because of the physical limitation, then I think maybe there should be a error report and stop movement. Looking forward to your reply. Thank you.

JaehyunShim commented 4 years ago

@Fred159

Please download the latest version and test it again.

2019-12-02

YDK18 commented 4 years ago

@rjshim Hello. I was trying to test the lastest version. The y and z axes ran correctly but axis-x malfunction occured again. As shown in the picture, a strange posture was output.

default_gzclient_camera(1)-2019-12-03T11_25_53 801155

Fred159 commented 4 years ago

@rjshim I download the latest version in master at https://github.com/ROBOTIS-GIT/open_manipulator_pro.git. We use ubuntu 16.04. LTS. ROS: kinetic Do you mean the version with kinetic-devel branch? But I also test the kinetic version, it doesn't work either. Arm works well in y direction and z direction. When arm reached the limitation of the physical size, terminator gave error messages and stop. However the arm still works strange in x direction. Arm moved with a not understandable behavior. Screenshot from 2019-12-03 11-39-33 Screenshot from 2019-12-03 11-39-58

JaehyunShim commented 4 years ago

@YDK18

Sorry for the late reply. I just fixed fk and ik bugs and updated the package. Please test it and let us know the result.

Regards, Ryan

JaehyunShim commented 4 years ago

As there have been no updates, I will close this issue. Ryan