Which combination of platform is the ROS driver running on.
Linux without realtime patch
How is the UR ROS Driver installed.
From binary packets
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
Issue details
I implemented an admittance controller in Cartesian space to generate velocity commands of the end effector. However, when I attempted to use the twist controller through ros to send the desired velocity command to the robot, it often resulted in a violation error or rapid reaction, even thoug the robot limit is set up to least restricted. On the other hand, when I use rtde_control with the same admittance controller with the same parameters and FT filter. And sent velocity commands to the robot using SpeedL function, the robot worked as expected.
Affected ROS Driver version(s)
ROS 1
Used ROS distribution.
Noetic
Which combination of platform is the ROS driver running on.
Linux without realtime patch
How is the UR ROS Driver installed.
From binary packets
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
Issue details
I implemented an admittance controller in Cartesian space to generate velocity commands of the end effector. However, when I attempted to use the twist controller through ros to send the desired velocity command to the robot, it often resulted in a violation error or rapid reaction, even thoug the robot limit is set up to least restricted. On the other hand, when I use rtde_control with the same admittance controller with the same parameters and FT filter. And sent velocity commands to the robot using SpeedL function, the robot worked as expected.
Am I missing anything?
Relevant log output
No response
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