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lagadic / visp

Open Source Visual Servoing Platform
https://visp.inria.fr/
GNU General Public License v2.0
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problem about :change the control mode from stop to velocity control #1109

Closed 867415148 closed 1 year ago

867415148 commented 1 year ago

I follow the tutorial：IBVS with a robot from Universal robot，try to complete visual servo.
When I run this command： ./servoUniversalRobotsIBVS --eMc ../../tutorial/calibration/ur_eMc.yaml --plot。 My UR5 moves to a certain position，then the system prompts me：change the control mode from stop to velocity control。After that, my UR5 has no reaction. Before I run this command，everthing is ok。 The system prompt is as shown in the figure。 The pose of UR5 after moving to the certain position is shown in the figure. How can I solve this problem？ Help!!!!!!!! 937a1a8a7467ca5d98a8f395ed8d5fe 5abebfc8c44a4b8d79e7e64e7c4e37e

fspindle commented 1 year ago

The msg Change the control mode from stop to velocity control is just here to warn the user that the robot will be controlled in velocity.

The servoUniversalRobotsIBVS binary should open a windows that is displaying the image acquired by the Realsense camera. The robot can then only move if the apriltag is detected in the image and if the user enables the controller by a left click in the image.

867415148 commented 1 year ago

Thank you so much. I completed this experiment, and the effect is very good.Thank you again for your contribution and guidance.