Closed xjboston closed 4 years ago
xjboston
commented
4 years ago The compliance behavior can be realized by a kinetic compliance controller (https://github.com/UTNuclearRobotics/ros_controllers/tree/kinetic-compliance/compliance_controller), which is exactly what I am after.
ZZWang21
commented
1 year ago Excuse me @xjboston @PaperFanz @AndyZe, I am also working on the compliance controller. I am wondering, how to set a force target for this controller? Currently, I looked through the codes, but I did not see where I can set a constant force target or goal, or desired force. Thank you.
AndyZe
commented
1 year ago Hi @ZZWang21, it's been a long time since I touched this particular code. If you can upgrade to ROS2 Humble, there's a new admittance controller that's supported better and has more features. I'd suggest using that one instead:
https://github.com/ros-controls/ros2_control_demos/pull/206
I'm 95% sure this pull request is going to be merged in the next few weeks, so it's officially available in ROS2.
ZZWang21
commented
1 year ago Thank you, Andy, for the quick reply.
Currently I am doing my research using ROS1, later I would definitely switch to ROS2. But now I am working on some demonstration to my supervisor and partner showing what we can do.
I would like to control the robotic arm to scan an object with constant contact force. I think it is possible with your old code. But I donot know how to set the target force. That is why I wrote to you all.
Do you know anyone who is still working on this?
Thank you very much.
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From: AndyZe @.> Sent: Friday, October 7, 2022 3:02:11 PM To: ros-industrial/ur_modern_driver @.> Cc: ZZWang21 @.>; Mention @.> Subject: Re: [ros-industrial/ur_modern_driver] Real-time control of UR5 in force mode using ur_modern_driver (#356)
Hi @ZZWang21https://github.com/ZZWang21, it's been a long time since I touched this particular code. If you can upgrade to ROS2 Humble, there's a new admittance controller that's supported better and has more features. I'd suggest using that one instead:
ros-controls/ros2_control_demos#206https://github.com/ros-controls/ros2_control_demos/pull/206
I'm 95% sure this pull request is going to be merged in the next few weeks, so it's officially available in ROS2.
— Reply to this email directly, view it on GitHubhttps://github.com/ros-industrial/ur_modern_driver/issues/356#issuecomment-1271637701, or unsubscribehttps://github.com/notifications/unsubscribe-auth/ANHFTIOY6MRIHYDE4NSH3KLWCAUOHANCNFSM4I43DJEA. You are receiving this because you were mentioned.Message ID: @.***>
gavanderhoorn
commented
1 year ago Could I ask you to please continue this discussion somewhere else?
This is a closed issue on the tracker of a defunct ROS 1 driver for a particular robot brand.
Admittance control isn't really on-topic here.
Hi, I have question regarding implementing the force_mode() function with ur_modern_driver. We have been doing real-time teleoperation of a UR5 arm using ur_modern_driver. In the current setup, we sent velocity commands to each joint in realtime and the test went pretty well. The only issue is that the robot is very stiff, which I think is due to the high internal loop gains. We are now finding solutions to make the robot compliant. Here are some ideas we want to try.
I was wondering that is there any way to implement this 'force_mode()' function into the ur_modern_driver? Based on my understanding, the real-time interface in ur_modern_driver is typically running the built-in function speedj() to read the velocity commands (defined in the file 'ur_realtime_communication.cpp'). It might be possible to do the same thing with force_mode(). Please let me know your thoughts on this and correct me if I am wrong anywhere. Any suggestions would be really appreciated. Thanks!