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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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How Can I Use Cartesian Compliance Controller on Real UR5e Robot? #205

Closed Yeesha-R closed 3 months ago

Yeesha-R commented 3 months ago

Hi,

I am new to ROS Noetic and python programming and I have some questions regarding these controllers:

  1. How can I launch this package to work on a real UR5e robot?
  2. Can I use the cartesian compliance controller when the robot is in freedrive mode?
  3. I want my robot to be less stiff when in the freedrive mode. What parameters of the controller (stiffness or pd_gains) do I need to tweak to achieve this?

I look forward to your help. Thank you so much.

stefanscherzinger commented 3 months ago

Hi @Yeesha-R

Thanks for your interest in using this controllers suite!

  1. Here's a small getting started package for the Universal Robots.
  2. No, this won't be possible. The UR5e's freedrive mode will deactivate all ROS controllers that would write commands to the hardware to avoid conflicting commands.
  3. As a consequence of point 2. I'm afraid this is out of scope of these controllers and needs to be adjusted somewhere in the UR's parameter range. I'm not sure, however, if the e-Series has the sensors and internal control algorithms to shape apparent inertia as do some of the high-end collaborative robots.
Yeesha-R commented 3 months ago

Thank you so much for your response @stefanscherzinger . I have been able to implement the controller.