The robot stops moving while the function set_desired_force() is running.

doosan-robotics / doosan-robot2

ROS 2 for Doosan Robot

BSD 3-Clause "New" or "Revised" License

69 stars 48 forks source link

The robot stops moving while the function set_desired_force() is running. #9

Closed whitedoll closed 1 year ago

whitedoll commented 3 years ago

Hi I am using m1013 model in my project and after connecting ros2 in real mode, movel or movej command works well without error. However, when moving the robot using the set_desire_force command, I found an error that stops motion within 2 seconds.

I don't know how to debug when moving the robot with ros2 service, sorry I would be grateful if I could fix the problem

doosan-robotics commented 3 years ago

Currently, a problem was found with the set_desired_force function inside the API. It will be revised in the near future.

focusonfocus commented 3 years ago

Having a problem with set_desired_force, is it updated?

doosan-robotics commented 1 year ago

I'm sorry for the late update. Now, API about force control is updated in order to fix a problem with set_desired_force.