search

ROBOTIS-GIT / open_manipulator_p

OpenManipulator-P for controlling in Gazebo and Moveit with ROS
Apache License 2.0
41 stars 21 forks source link

robot arm joint effort controller of openmanipulator-p (in real robot) can not work! #64

Open Medivh7 opened 3 years ago

Medivh7 commented 3 years ago

Using moveit planning to control the robot arm to move. Robot arm joint effort controller of openmanipulator-p in gazebo can work well，but when i run in the real robot arm, it can't work! when i run the joint effort controller, the real robot arm can output torque. i can push it by my hand, then it will return to the origin position (just like a spring). but when i run the moveit to control it, it will lock each joint, and can't move! we get the trajectory module warning: [ WARN] [1607226630.131100399]: Controller arm_controller failed with error code PATH_TOLERANCE_VIOLATED [ WARN] [1607226630.131192346]: Controller handle arm_controller reports status ABORTED [ INFO] [1607226630.131209539]: Completed trajectory execution with status ABORTED ...

Medivh7 commented 3 years ago

i try to use a topic Publisher to control one joint, but it also can't work