how to switch control mode

epfl-lasa / kuka-lwr-ros

ROS KUKA robot control (simulation & physical)

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how to switch control mode #22

Open nkuligaofeng opened 4 years ago

nkuligaofeng commented 4 years ago

I have connected with the KRC and get the robot state (e.g. Joint Position, Joint Torques), however, when I try to start the controller, The FRI State doesn't change to "COMMAND" after I typed "control" in the terminal where I run lwr_fri_console.launch.

What could be the problem? Could someone give a clue?

nkuligaofeng commented 4 years ago

Or, could I have your KRL script? I cannot find the proper KRL file to cooperate with this project