Hi.Everyone!
When I try to run the kangaroo driver node and publish the topic below to test the position control.
rostopic pub -r 30 joint_trajectory trajectory_msgs/JointTrajectory '{joint_names: ["1", "2"], points: [ { positions: [2.5, 2.5] } ]}'.
I echoed both joint-trajectory and joint-state topic.
The position input from joint-trajectory is different from what we can see from joint-state.
For example. position:2.5 from the joint_trajectory and what I can see from joint-state is position which is equal to 10 instead rather than 2.5.
Hi.Everyone! When I try to run the kangaroo driver node and publish the topic below to test the position control. rostopic pub -r 30 joint_trajectory trajectory_msgs/JointTrajectory '{joint_names: ["1", "2"], points: [ { positions: [2.5, 2.5] } ]}'. I echoed both joint-trajectory and joint-state topic. The position input from joint-trajectory is different from what we can see from joint-state. For example. position:2.5 from the joint_trajectory and what I can see from joint-state is position which is equal to 10 instead rather than 2.5.
The code of kangaroo-drive.node is as follow: https://github.com/smd-ros-devel/kangaroo_x2_driver/blob/master/src/kangaroo_driver.cpp