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ros-industrial / motoman

ROS-Industrial Motoman support (http://wiki.ros.org/motoman)
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Possible error with feedback velocity (DX200, YRC1000) #223

Closed ted-miller closed 6 years ago

ted-miller commented 6 years ago

https://github.com/ros-industrial/motoman/blob/36ec447f3990e0f2313b95e24b40514443259cbd/motoman_driver/MotoPlus/CtrlGroup.c#L415-L428

Based on a report from another user using my test procedure, it appears that the correction for cross-axis coupling is being applied twice on DX200 and YRC1000. These newer controllers use the M-Register analog feedback function to read axis speeds. We think that the correction has already been applied to the values in the M-registers. So, the MotoROS code should not attempt to apply the correction.

@EricMarcil - Can you validate and fix this issue next week? If not, then I won't get around to it until July.

gavanderhoorn commented 6 years ago

Should we assign this to @EricMarcil?

ted-miller commented 6 years ago

Sure... but I can't get that to work. Does he need to be added a maintainer of this repo?

I talked to Eric on the phone and he is going to look at this.

gavanderhoorn commented 6 years ago

Hm, yes. He needs to be member of one of the groups that have access to this repository. Sorry about that.

(and we should actually do that)

gavanderhoorn commented 6 years ago

off-topic, but I just invited @EricMarcil to the relevant teams for motoman and motoman_experimental.