Open vopsi99 opened 1 month ago
no worries @vopsi99 and thank you for raising this issue. In principle yes, in practise users have to put in some effort to do this right now. I can pinpoint you to some examples and try to improve the demos.
What are you trying to achieve:
I managed to move the end-effector incrementally but it is really unstable, so I need to move to an absolute pose with a certain velocity. I supposed this kind of motion would be the best to further integrate a stereo camera to position the robot in correlation to some markers in the workspace.
so there is a demo here: https://lbr-stack.readthedocs.io/en/latest/lbr_fri_ros2_stack/lbr_demos/lbr_demos_advanced_cpp/doc/lbr_demos_advanced_cpp.html#pose-controller
You'd have to add a node that sends your desired pose. This can be done in Python, similar to this e.g. https://github.com/lbr-stack/lbr_fri_ros2_stack/blob/humble/lbr_demos/lbr_demos_advanced_cpp/src/pose_planning_node.cpp
So I should only send from another node my desired pose to this demo? This is the demo that I modified to send incremental values for x,y,z on position and orientation, but on Y orientation, for example, it always went crazy even if I was doing really small movement increments.
okay I'll have to double check this demo, as it was community contributed. But this demo sends an absolute pose.
You will have to make sure you:
I think this demo needs an update and should really allow users to control a velocity rather than absolute poses maybe
Yes, I realised that a really small increment (0.001) would make the movement smoother.For positioning on x,y and z everything seems fine, but when I am trying to orient it, it just breaks everything.
After sending the increment on Y for longer it tends to jump into a position and i get the inverse kinematics failed error.
I think velocity control would be really useful for everyone.
thank you for the feedback. Let's add support for this then.
Hello, I tried using this repository but my knowledge in ros is rather mediocre. I am curious if this stack has cartesian control implementation or not.
It may be a stupid question, but I am stuck for quite some time and I could really use some help..