Server Response Problem for Ros2

TechmanRobotInc / tmr_ros2

TM Robots supporting ROS2 drivers and some extended external applications. (experimental) (not support the new TM S-Series)

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Server Response Problem for Ros2 #35

Open SUNBinzhi opened 11 months ago

SUNBinzhi commented 11 months ago

Hi！We are using tm 5-900 robot arm to test some algorithm in ubuntu 22, ros 2 humble. The communication we use is the service-client. When we repeatedly sending command(joint angles) to the robot using a client in ros 2, if the frequency is exceeded 2Hz (0.5s/command) there will be a large delay of the robot to execute the command. So this will cause the robot to work not very smoothly. Is there any method to speed up the frequency for the robot to execute commands?

stonfute commented 2 months ago

I'm about to buy one of those robots. I'm familiar with low level control of robots sending joints command at 1kHz (Kuka Iiwa / Emika Franka) I was wondering if I could do the same with this robot ?