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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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nothing published to /cartesian_force_controller/current_pose #173

Closed shrutichakraborty closed 2 months ago

shrutichakraborty commented 4 months ago

Hi! First of all the controllers work great :) I am using the cartesian controllers with ros2 and ur10e robot. I have a control loop that will continue to publish to the /cartesian_force_controller/target_wrench until a certain threshold of force. However during this time while the controller runs nothing seems to be published to /cartesian_force_controller/current_pose topic. Any ideas would be appreciated!

stefanscherzinger commented 2 months ago

@shrutichakraborty Sorry for not responding earlier. I'm assuming you made it work concerning your other issues on this repository. If still relevant, could you quickly post your insights here so that others can benefit from what you found? Many thanks :)

lxk-221 commented 3 weeks ago

hi @shrutichakraborty , i have the same problem with you, but i'am using ros1, Ubuntu 18.04 and ros melodic. i can use rosrun tf tf_echo frame1 frame2 to get the pose of ee_link, and by publishing target pose to target_frame_topic of the cartesian_compliance_controller, i can control the pose of ee. However, nothing published to \current_pose topic. I'd appreciate if you can give me some suggestions!