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ros-controls / ros_controllers

Generic robotic controllers to accompany ros_control
http://wiki.ros.org/ros_control
BSD 3-Clause "New" or "Revised" License
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robot arm joint effort controller of openmanipulator-p (in real robot) can not work! #541

Closed Medivh7 closed 3 years ago

Medivh7 commented 3 years ago

Using moveit planning to control the robot arm to move. Robot arm joint effort controller of openmanipulator-p in gazebo can work well，but when i run in the real robot arm, it can't work! when i run the joint effort controller, the real robot arm can output torque. i can push it by my hand, then it will return to the origin position (just like a spring). but when i run the moveit to control it, it will lock each joint, and can't move! we get the trajectory module warning: [ WARN] [1607226630.131100399]: Controller arm_controller failed with error code PATH_TOLERANCE_VIOLATED [ WARN] [1607226630.131192346]: Controller handle arm_controller reports status ABORTED [ INFO] [1607226630.131209539]: Completed trajectory execution with status ABORTED ...

destogl commented 3 years ago

This is probably more appropriate question for people providing robot's driver.

matthew-reynolds commented 3 years ago

Closing this as it's a problem in a downstream project or in the user's configuration, not in ros_controllers.