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tork-a / jog_control

Apache License 2.0
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add config and launch files for hironx. #10

Closed aislab closed 6 years ago

aislab commented 6 years ago

We added config and launch file for HIRONX environment. It is executed depends on hironx_ros_bridge and hironx_moveit_config.

6

7675t commented 6 years ago

I checked this PR with simulation and it seems OK, but I'm concerning with we have remaining issue with your real robot #6

I'm not sure, but I'm a bit doubtful of the behavior of JointTrajectory controller of HiroNX/Nextage. We have to command the robot continuously while jogging, and which is same situation I heard from you when we had a meeting at your lab. Do you have any idea how to command the robot continuously finally?

We have two choices to command the robot, message and action. We have use_action parameter in jog_joint_node and jog_frame_node. With default parameter, they use message, ex. /larm_controller/command. So if you are confident you should use action, you can try to set use_action true with your robot.

And please take extra care when you activate the robot !

Any idea @k-okada ?

7675t commented 6 years ago

I set default argument use_joy false, and I believe it is not harmless. Though we need tests afterwards.