Open odbee opened 8 months ago
Thank you for reporting this. I would have assumed that this is actually working, but apparently, it does not. Using open_loop control doesn't seem like a proper solution to the problem, but we should check this, anyway.
Affected ROS2 Driver version(s)
2.2.10
Used ROS distribution.
Humble
Which combination of platform is the ROS driver running on.
Ubuntu Linux with standard kernel
How is the UR ROS2 Driver installed.
Build the driver from source and using the UR Client Library from binary
Which robot platform is the driver connected to.
UR E-series robot
Robot SW / URSim version(s)
ur10e
How is the ROS driver used.
Through the robot teach pendant using External Control URCap
Issue details
Summary
I am looking to use the UR10e using a joint trajectory controller with velocity as a command interface instead of position.
Issue details
when i send velocity commands to it the movements are extremely choppy and often lead to the robot doing invalid moves and stopping.
Steps to Reproduce
change joint trajectory controller in ur_controllers.yaml in ur_robot_driver to
joint_trajectory_controller: ros__parameters: joints:
Without open_loop_control: true the robot would not move at all.
Expected Behavior
Smooth movements similar to JTC using position as a command interface
Actual Behavior
choppy erratic movements. no sudden deceleration
Relevant log output
No response
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