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clubcapra / ovis

Ovis robotic arm control package
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Changes from Robocup #34

Closed GLDuval closed 1 year ago

GLDuval commented 1 year ago

This branch contains all the changes that were made during Robocup. It contains improvements that allow the arm to be controlled on Markhor.

Leo-Dan commented 1 year ago

Looks good to me, I assume you've tested it?

Yep, works great. Changing the loop per command parameter definitely removed some latency issues we had in the controls. Although, general node stability is not yet so good.

GLDuval commented 1 year ago

Did you guys succeed in fixing the stability issue?

Not quite, the stability issue looks like it's coming from the shakiness of the arm. After tightening the arm's casing, it shaked a bit less and was a lot more stable. I'm not sure what we could change in the code to fix it. We could also just leave it as is for safety reasons.

lvanasse commented 1 year ago

Did you guys succeed in fixing the stability issue?

Not quite, the stability issue looks like it's coming from the shakiness of the arm. After tightening the arm's casing, it shaked a bit less and was a lot more stable. I'm not sure what we could change in the code to fix it. We could also just leave it as is for safety reasons.

Oh I meant more about the node crashing, I don't know if you remember that happening in Bangkok.

Leo-Dan commented 1 year ago

Did you guys succeed in fixing the stability issue?

Not quite, the stability issue looks like it's coming from the shakiness of the arm. After tightening the arm's casing, it shaked a bit less and was a lot more stable. I'm not sure what we could change in the code to fix it. We could also just leave it as is for safety reasons.

Oh I meant more about the node crashing, I don't if you remember that happening in Bangkok.

What I found out recently is that in Bangkok we had a launch file for observation which launched the arm right after the E-Stop. It takes a few moments to initialize the communication with the Kinova controller after it's powered on. No wonder the arm would not launch from this launch file.