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lbr-stack / lbr_fri_ros2_stack

ROS 1/2 integration for KUKA LBR IIWA 7/14 and Med 7/14
https://lbr-stack.readthedocs.io/en/latest/
Apache License 2.0
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Compatability with ubuntu 18. 04 #15

Closed Yitian-Xian closed 1 year ago

Yitian-Xian commented 2 years ago

Hi, may I know if I can use this package in ubuntu 18.04? I have melodic installed but I am really new at ros2. Thanks!

anubhav-dogra commented 2 years ago

you can use melodic version of this stack with "lbr_fri_ros_stack". You can select melodic branch from all the branches provided.

Yitian-Xian commented 2 years ago

@anubhav-dogra Thanks for your reply! I am so stupid I did not check! Sorry!

Yitian-Xian commented 2 years ago

@anubhav-dogra Hi, when we are using this package to run Med 7, the robot would have some 'beep' noise. Have you encountered this problem before? Everything looks good except this issue.

anubhav-dogra commented 2 years ago

You might need to check errors or warnings on the KUKA SmartPad.

mhubii commented 2 years ago

I have noticed this before and it seems to happen occasionally. Not sure what the reason for this is. You might try different communication rates, which can be selected at start-up. Maybe try a lower one first. Control rates <2ms are only supported via the KONI port on the KUKA controller. Also, make sure you run a realtime linux kernel when you run high communication rates

Yitian-Xian commented 2 years ago

@mhubii Typically I use 5 ms, I also tried 10 ms, and I do not think communication rates is an issue. I found this case always happens if I make the robot move fast. For example, after the robot moves, when I command it to return its original pose, I only give a desired position without controlling its velocity. Then the robot would make some noise. After I give a small velocity, this case rarely happens. Hope this can help!

mhubii commented 2 years ago

Thanks for the hints @Yitian-Xian, then let's keep this issue open for visibility. Maybe someone can solve it. I currently don't have access to a robot so can't verify

mhubii commented 1 year ago

We have now double checked this matter.

It appears that a beeping noise occurs when noisy commands are sent to the motors. Make sure smooth controls are sent when using the system.