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fzi-forschungszentrum-informatik / cartesian_controllers

A set of Cartesian controllers for the ROS1 and ROS2-control framework.
BSD 3-Clause "New" or "Revised" License
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Warning: Uncontrolled movement with UR's latest `Humble` release #142

Open stefanscherzinger opened 1 year ago

stefanscherzinger commented 1 year ago

Problem description There seems to be a problem with the cartesian controllers and the latest UR ROS2 driver. After upgrading today from

> $ cat /var/log/dpkg.log | grep ros-humble-ur-                                                                                                                                                                             
2023-08-10 14:21:59 upgrade ros-humble-ur-robot-driver:amd64 2.2.6-1jammy.20230327.202833 2.2.8-1jammy.20230722.001651
2023-08-10 14:21:58 upgrade ros-humble-ur-client-library:amd64 1.3.1-1jammy.20221201.233731 1.3.2-1jammy.20230714.001128

the cartesian_force_controller completely freaked out upon activation. I'm currently not sure what's happening, but I could pinpoint it down a little. After removing the system dependencies and after installing from source

everything behaves normal.

So, something happens in the driver between 2.2.7 and 2.2.8 whose consequence I need to check in the controllers. The only commit that seems to touch relevant parts of the code was introduced with #719. Let's see what that is..

Software versions

Workaround Until this is fixed, build the driver from source as explained here and switch to 2.2.7 (git checkout 2.2.7).

shrutichakraborty commented 7 months ago

Hi @stefanscherzinger, is this still the case? I have been experiencing issues with the cartesian motion controller where the robot vibrates upon reaching commanded position, and sometimes even experiences random jerks along the motion, is this related to this issue or could that be fixed by tuning the controller? Any ideas would be helpful thanks.

yg19930918 commented 5 months ago

I just want to report I met the same situation using ROS iron/ur ros driver 2.3.7/UR5e. It is not only cartesian_force_controller, cartesian_motion_controller is also completely freaked out when I try to activate the controller. I did tried to adjust the iteration number and p/d, it did not work.

yg19930918 commented 5 months ago

A small update, after downgrading my ROS and ur-driver version following @stefanscherzinger advice， the compliance controller works. Thanks for your open-source controller, this is quite helpful for me.