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kirillin / force_control

kuka iiwa hybrid force control implementation
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code problem #1

Open hhz0328 opened 7 months ago

hhz0328 commented 7 months ago

camer_point_sub = nodh.subscribe("/iiwa/camera1/line_coordinate", 2, &iiwa::update_desired_point, this);

Dear kirllin， i dont know where is the "/iiwa/camera1/line_coordinate" from?

I entered the following three commands

 roslaunch profi2021_master_scene start_scene.launch gui:=true
rosrun force_control camera.py 
rosrun force_control iiwa_control

The gazebo and rviz started successfully, but the robotic arm could not achieve the effect in the video.

hhz0328 commented 7 months ago

My computer environment is ubuntu20.04+ros1-noetic

hhz0328 commented 7 months ago

Here are my terminals

hhz@hhz:~/co_force_iiWA$ rosrun force_control camera.py 
[INFO] [1712645476.058612, 0.000000]: HI
^Chhz@hhz:~/co_force_iiWA$ rosrun force_control iiwa_control
[ INFO] [1712645390.257012133]: Hi
[ INFO] [1712645390.264643591]: start_controllers[]
  start_controllers[0]: joint1_torque_controller
  start_controllers[1]: joint2_torque_controller
  start_controllers[2]: joint3_torque_controller
  start_controllers[3]: joint4_torque_controller
  start_controllers[4]: joint5_torque_controller
  start_controllers[5]: joint6_torque_controller
  start_controllers[6]: joint7_torque_controller
stop_controllers[]
strictness: 1
start_asap: 0
timeout: 0