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arebgun / dynamixel_motor

ROS stack for interfacing with Robotis Dynamixel line of servo motors.
BSD 3-Clause "New" or "Revised" License
70 stars 169 forks source link

set start_position as current_pos and make sure the joints with enabled torque #79

Open onionsflying opened 7 years ago

onionsflying commented 7 years ago

I designed a trajectory by myself instead of MoveIt!. And I noticed the big position error during the motion. So I thought we should set start_position as current_pos to reduce the accumulated error.

Then I found a problem: If man doesn't set torque as enabled until a trajectory action is active, the velocity can be huge when the torque is set as enabled. So I added some code to set torque as enabled before the motion begins.