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macorobots / roomac_ros

ROS packages for roomac autonomous mobile manipulation robot
GNU General Public License v3.0
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Change arm commands #36

Closed macstepien closed 2 years ago

macstepien commented 2 years ago

Should be more organized in one topic and it will be better to send position with velocity (playtime), which wasn't guaranteed to be set before execution. Connected to roomac_firmware issue

macstepien commented 2 years ago

After testing joint state commands I found out that it wasn't possible to send more than three joints in one message - there wasn't any error, command just wasn't executed. I'm not sure what's the exact cause of it, probably messages were too big (interesting thing was when I reduced joint names from regular "right_shoulder_pan".... to "J1" it still happened). When I sent only one joint per message it worked alright, but I think that there is no point in it - additionally microcontroller has to do string comparison to check joints and I'm worried about performance here. So instead I will keep separate topics for each joint, but I will create new msg type for sending position and velocity.