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ros-industrial / motoman

ROS-Industrial Motoman support (http://wiki.ros.org/motoman)
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Torque readings from DX200 are not continuous. #507

Closed nexus1203 closed 2 years ago

nexus1203 commented 2 years ago

After following the instructions on this comment #174, I collected the torque data using two method, first the controller torque method another is the Mregister method. However both the methods return torque readings with a significant delay. However, Joint readings are still continuous. I am hoping devs can shed some light on this, if this is a controller limitation? I have ordered MotoPlus from the local dealership. I am hoping that may solve the issue. However, the comparisons are attached as follow. The joint angles are in pulse. sorry for the label. DX200_torque.csv DX200_torque

DX200_Mregister.csv DX200_Mregister

ted-miller commented 2 years ago

Hi @nexus1203 I think what you're seeing is caused by the frequency that feedback data is published from motoros to motoman_driver.

https://github.com/ros-industrial/motoman/blob/7860ff545106d98ed6a3fa0121f2fb60891f69bd/motoman_driver/MotoPlus/StateServer.h#L35

I have ordered MotoPlus from the local dealership

With the SDK, you can decrease the STATE_UPDATE_MIN_PERIOD and you should see immediate improvement.