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frankaemika / franka_ros2

ROS 2 integration for Franka research robots
https://frankaemika.github.io/docs/franka_ros2.html
Apache License 2.0
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No movement while using fake_hardware #62

Closed luiscoelho23 closed 1 month ago

luiscoelho23 commented 6 months ago

Hi, I was trying to use the example controllers using fake_hardware but I get no movement on Rviz, changed the command interface on config\controllers.yaml to match the type of controller but still get no results.

Command exmaple: ros2 launch franka_bringup joint_position_example_controller.launch.py robot_ip:=dont-care use_fake_hardware:=true use_rviz:=true

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BarisYazici commented 4 months ago

You could use the gazebo simulator examples instead. They should work

rraetz commented 3 months ago

Hello everybody,

I get the same behavior with ros2 launch franka_fr3_moveit_config moveit.launch.py use_fake_hardware:=true robot_ip:=yyy.yyy.yyy.yyy The planning works but the faked robot just remains at its initial joint positions.

Is there any solution to this? Or could anybody point me to where I need to look for bugs? I observed that on the /joint_states topic, the position does not change as the robot "moves" when executing a planned motion with the MoveIt plugin. However, the efforts change during motion execution. Any help is much appreciated.

BarisYazici commented 3 months ago

Hello everybody,

I get the same behavior with ros2 launch franka_fr3_moveit_config moveit.launch.py use_fake_hardware:=true robot_ip:=yyy.yyy.yyy.yyy The planning works but the faked robot just remains at its initial joint positions.

Is there any solution to this? Or could anybody point me to where I need to look for bugs? I observed that on the /joint_states topic, the position does not change as the robot "moves" when executing a planned motion with the MoveIt plugin. However, the efforts change during motion execution. Any help is much appreciated.

If you change the command interface here to position. That would solve your issue probably.

rraetz commented 3 months ago

If you change the command interface here to position. That would solve your issue probably.

Awesome, this solved it! Thank you very much for your help.