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hans-robot / elfin_robot

ROS meta-package for Elfin robot
http://wiki.ros.org/Robots/Elfin
BSD 3-Clause "New" or "Revised" License
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Basic API of elfin3 #43

Open Soil-L opened 8 months ago

Soil-L commented 8 months ago

hello, I am doing some control research using elfin3. I want to periodically get the state of joint(not state of encoder) and end. And i also also want to freely change the pos of the arm with no need to turn zero-gravity mode by demonstrator. But i cannot find the api i want in api_description.md. Now i use some api of moveit to get states, but i think getting state from basic_api will be more convient. So, i wandering that is there any API provided to 1.get joint states and end states? 2.turn on zero-gravity mode

Neverforgetlove commented 8 months ago
  1. When you say joint status, do you mean the joint angle between the starting point and the end point of the trajectory?
  2. Zero force functionality is not currently provided in ROS
Soil-L commented 8 months ago
  1. When you say joint status, do you mean the joint angle between the starting point and the end point of the trajectory?
  2. Zero force functionality is not currently provided in ROS

Thank you for your quick reply!

  1. Actually, i just want the joint angles periodically whether it is moving or not. is it possible to use basic_api to achieve?
  2. All right. is it in the develop plan?
Neverforgetlove commented 8 months ago
  1. In fact, you can see the joint radian position_tmp1 and position_tmp2 from the read_update function in elfin_ros_control/src/elfin_hardware_interface.cpp. You can customize a topic to publish it.
  2. We are developing another control mode to implement. This mode will be quite different from the current ROS package and will not be completed as soon.
Soil-L commented 8 months ago
  1. In fact, you can see the joint radian position_tmp1 and position_tmp2 from the read_update function in elfin_ros_control/src/elfin_hardware_interface.cpp. You can customize a topic to publish it.
  2. We are developing another control mode to implement. This mode will be quite different from the current ROS package and will not be completed as soon.
  1. OK, i am trying it.