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squirrel-project / squirrel_driver

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Base control unexpected behaviours #123

Closed ghost closed 6 years ago

ghost commented 7 years ago

Dear all,

I noticed that /squirrel_control_node sometimes does not release the control of the base (and probably of the arm too). I also experienced this straight after booting the robot. For instance, it happens to me that I could not reposition the robot with the joystick cause the low level controller moved the robot to pose where the robot was switched on.

I think /squirrel_control_node should execute the control loop if and only if requested. It might be also useful to create a service that kills the control loop just in case the a controller has been called via topic /trajectory_trajectory_controller/command and without the action server/client.

mzillich commented 7 years ago

Is this not, why we had the twist multiplexer?

ipa-nhg commented 7 years ago

are you starting a teleop node for ROS or the festo upstart control is controlling the joystick?

ghost commented 7 years ago

So that happed to me a couple of times. I joysticked the robot using the low level driver by FESTO, no ROS teleop. What I noticed is that something was publishing /cmd_rotatory.

ghost commented 7 years ago

So what's the issue then here? Can we be more precise? The controller does not lock the base, as @mzillich suggests, this is related to the twist multiplexer.

ipa-nhg commented 6 years ago

was this solved?

ghost commented 6 years ago

I guess so, yes. @smhaller and @philkark was this finally fixed?