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ros-naoqi / pepper_moveit_config

MoveIt! config files for the Aldebaran Pepper
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Delay in the movements between the right and left arm for the Pepper robot #10

Open nguyensmai opened 6 years ago

nguyensmai commented 6 years ago

Hi, we are using moveit to control the movements of Pepper. In the simulator gazebo, Pepper moves perfectly, but on the real robot, the movement is not at all the same, the movement is not fluid, the robot moves joint by joint one after the other. Most importantly, while it should move both arms simultaneously (and Pepper in gazebo moves both arms simultaneuously), in our real Pepper, the robot moves the left arm only after it finishes with the right arm. Could you give us a tip how to solve this?

mzn723 commented 5 years ago

I have the same problem, the planned movement is different from the execution. @nguyensmai how did you solve it?

nguyensmai commented 5 years ago

Unfortunately I haven't been able to solve this problem. I'm wondering if it is specific to moveit/pepper or if it is general to all robots.

mzn723 commented 5 years ago

The problem is in the robot.cpp file in the naoqi_dcm_driver package. In Robot::writeJoints() there's a break; at line 493, which causes the program to call the writeJoints() in motion.cpp for each joint separately.

Commenting thebreak; at line 493 seems to have fixed the problem.

nguyensmai commented 5 years ago

Thanks a lot for sharing. I will try that