search

ros-industrial / universal_robot

ROS-Industrial Universal Robots support (https://wiki.ros.org/universal_robot)
1.05k stars 1.03k forks source link

Difference between current of the motor on teach Pendant screen and /joint_states values (Effort)? #656

Closed MohamedOmar2014 closed 8 months ago

MohamedOmar2014 commented 10 months ago

I'm working on a real UR10 robot and I concern measuring the current of motor for further analysis of the motor torqe because i cant get it directly. I noticed that their is difference between current values on teach pendant screen and the values from the joint_states topic for a given configuration of the robot as shown in the following photos. The current values (joint_states): -4.1294 -9.2880 -0.1740 -0.4531 0.2624 -0.0493 The current values (Screen): 0.2 9.3 3.9 0.5 0.2 0 It seems that in the joint_states, the current value of joint 1 is replaced with current value of joint 3 because the current value of joint 3 has to be bigger based on the robot configuration.

Is that right or their is something missing? thanks in advance

Weixin Image_20230828211314 Weixin Image_20230828211320 Weixin Image_20230828211302

RobertWilbrandt commented 10 months ago

Did you check the order of the joints in the name field of the JointState message? This should be consistent with the order of the positions/velocities/efforts and you cannot rely on the order of those fields not changing.