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ros-industrial / ur_modern_driver

(deprecated) ROS 1 driver for CB1 and CB2 controllers with UR5 or UR10 robots from Universal Robots
Apache License 2.0
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/ur_driver/URScript speedj command can not reach the desired velocity #375

Closed Eugene19950 closed 4 years ago

Eugene19950 commented 4 years ago

I am use "rostopic pub /ur_driver/URScript std_msgs/String "speedj([0.3,0.2,0.1,0,0,0], 0.5, 1.5)" pub a velocity to ur5, but when I listen to the feedback /joint_states/velocity of the robot, I find that the joint velocity doesn't reach the desired one, as seen below data but if I just command joint speed to only one joint by "rostopic pub /ur_driver/URScript std_msgs/String "speedj([0.3,0,0,0,0,0], 5, 1)",(i set acc to 5 and time to 1s), the velocity is reached, anyone knows the reason? data2

gavanderhoorn commented 4 years ago

Please tell us which controller you are using.

If you're using a CB3 or e-Series robot, we can't support you here, as this driver is deprecated.

Eugene19950 commented 4 years ago

I'm using the CB3 controller but the software version remains 3.4, so I choose ur_moder_driver to drive my ur5 robot.

gavanderhoorn commented 4 years ago

I'm sorry, but for anything CB3 this driver has been deprecated.

This means we won't field any support questions of users using ur_modern_driver with CB3 controllers.

I'm going to close this as a wontfix and would really suggest you upgrade to a later version and use ur_robot_driver.