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lonelyfluency / summit_arm_sim

Isaacsim ros2 simulation and control for Summit mobile platform and robot arms
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robot move abnormally #1

Open haewngX opened 4 months ago

haewngX commented 4 months ago

I am using ISAACSIM version 4.0.0 with ROS 2 Humble. There is an error in the ActionGraph where the output of the make_3_vector node is a double[3] array, but it is intended to connect to the velocity commands input of the Holonomic_controller, which requires a token type. I suspect this type mismatch might be due to the version of ISAACSIM I am using. As a result, I have implemented a newer version of the Holonomic_controller and connected the output of make_3_vector to the velocity commands intended for the vehicle. However, when attempting to control the robot, the wheels are turning in an incorrect direction.which is causing the robot to move abnormally?

lonelyfluency commented 4 months ago

Hi. What do you mean by "turning in an incorrect direction". Did you change the .usd file? Perhaps you can adjust the wheel in Isaacsim.