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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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/cartesian_motion_controller/current_pose not publishing #206

Closed Yazan-Soliman closed 1 month ago

Yazan-Soliman commented 3 months ago

Hello, I am working on a project on a ur10e robot where i have to move it in Cartesian space. while it is easy to move the robot to a desired target_frame over /cartesian_motion_controller/target_frame , subscribing to /cartesian_motion_controller/current_pose is not returning any data. I needed this so that the publisher waits until the robot has reached its target.

Thanks in advance! Software versions

leledeyuan00 commented 3 months ago

Have you checked the parameter "publish_state_feedback" on configuration yaml file is setted to "on"?

Yazan-Soliman commented 3 months ago

@leledeyuan00 actually it is.

[INFO] [1724062107.393394715] [parameter_lister]: publish_state_feedback: True

stefanscherzinger commented 3 months ago

@Yazan-Soliman

That's interesting. I'm not sure about the [parameter_lister], but could you again check the parameter via the controller directly

ros2 param get /<your-controller-name> solver.publish_state_feedback

Note that the topic only gets published once the controller is active.

Additionally, what is the controller's update rate that you are running your setup with? The UR10e should mention that somewhere on the command line output during startup.

stefanscherzinger commented 1 month ago

Please re-open if still unclear.