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ahundt / grl

Robotics tools in C++11. Implements soft real time arm drivers for Kuka LBR iiwa plus V-REP, ROS, Constrained Optimization based planning, Hand Eye Calibration and Inverse Kinematics integration.
https://ahundt.github.io/grl/
BSD 2-Clause "Simplified" License
154 stars 72 forks source link

jog_arm package with FRI #177

Closed kamilcetin closed 4 years ago

kamilcetin commented 5 years ago

Hi all, I am running grl_kuka_ros_driver to run KUKA lbr iiwa in FRI mode. However, I am only be able to send joint_position commands to the arm. To be able to control it in Cartesian velocity mode, I am trying to run move_it with jog_arm packages, and send Cartesian velocity commands to the end-effector through grl_driver in FRI mode. Do you know that jog_arm package is suitable with FRI? Have you used this package before? This is my problem I have encountered https://github.com/UTNuclearRoboticsPublic/jog_arm/issues/89

ahundt commented 4 years ago

I've not tried cartesian velocity mode, so I don't know the answer. However, if you do find out please post the details here for future users!