search

UTNuclearRoboticsPublic / jog_arm

A real-time robot arm jogger.
45 stars 22 forks source link

Mergeing branches, stability improvements, configurable simulation #4

Closed martinappo closed 6 years ago

martinappo commented 6 years ago
  1. Merge latest changes from indigo and kinetic, fix build problems in kinetic.
  2. Add "simu" configuration parameter, that toggles whether to send multiple points in the trajectory or not. While sending multiple points, then testing with UR5, robot stuttered while moving. On the other hand, without spamming multiple points into trajectory, simulated robot didn't move in Gazebo. Solution was to make it configurable.
  3. Wait for TwistStamped jog message also, addition to JointState messages, because both are needed for moving jogging.
  4. Add 1 second sleep before entering main trajectory publishing loop. Necessary, because when receiving noisy data, filter needs some cycles to stabilize. At least in Gazebo environment without this sleep, the robot jumps very suddenly at the start of moving with noisy data, seemed dangerous.

Tested on UR5 hardware and also in simulation environment, Gazebo.