Open zirogravity opened 1 month ago
Thanks @zirogravity
Any new insights?
Hi @stefanscherzinger
Perhaps a single new insight but not yet fully understood on my end yet.
If I set the speed slider on the URSim/UR10e below 40% I can get the controllers to work painfully slow. This seems to be true no matter how small the error_scale is set to. I have the setup working with the teleoperation spacenav launch with cartesian force controller but NumPy versions break the Cartesian Pose launch. Was hoping to use the spacenav to log data with rosbag but I am still sorting through what topics are important to investigating the problem.
Hi @stefanscherzinger
Perhaps this video will help better describe the behavior I am seeing? https://youtu.be/P5t74CZsDwE
Also, if I am not mistaken moving the robot via Polyscope UI seems to causes the controller to lose track of the robot states. Reactivating external control works only if the robot is not moved via the Polyscope UI otherwise, the Cartesian controllers immediately fault the robot as seen in the video in between a Polyscope move and a replay of the external control program.
Problem description: Erratic robot motion before immediate faulting when switching from default STC to Cartesian Controller
Software versions: Commit: dc803377752bcbc175004a549485ef011ec4a952 OS: Linux 6.2.0-39-generic #40~22.04.1-Ubuntu SMP PREEMPT_DYNAMIC Thu Nov 16 10:53:04 UTC 2 x86_64 ROS Version: ROS2 Humble
Reproduce: Please see this post: UR Forum Post
Expected behavior: Robot not to fault when switching controllers and ready for testing Cartesian Controllers via RQT
Update: I am not exactly clear what I did differently so far but I managed to get "a reaction" from URSim but unclear what the messages mean if anything. I will report back as I learn more.