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ros-naoqi / pepper_dcm_robot

DCM stack integrating tools to control Pepper robot
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Pepper planned movement does not match real execution #5

Closed mzn723 closed 5 years ago

mzn723 commented 5 years ago

Hello,

There seems to be a problem that I don't exactly understand. Using Moveit!, after planning a trajectory, the simulation seems to perform the correct planned movement, however after executing the presumably correct planned trajectory on the real robot the resulted movement is not correct (the robot moves joint by joint consecutively instead of simultaneously).

Is this a problem from the launch file, the naoqi_dcm_driver itself, or could it be an incompatibility with my version of Pepper?

Did it work with anyone using Pepper?

mzn723 commented 5 years ago

The problem is in naoqi_dcm_driver/src/robot.cpp: Robot::writeJoints() line 493. There is a break; that causes the program to call Motion::writeJoints() for each joint separately.

awesomebytes commented 5 years ago

I confirm, commenting out the break; makes it work.

nlyubova commented 5 years ago

Please, fix it here

awesomebytes commented 5 years ago

Can't fix it in this repo (given it just contains launch and config files), but I've submitted a PR: https://github.com/ros-naoqi/naoqi_dcm_driver/pull/6

nlyubova commented 5 years ago

Thanks !