Using moveit planning to control the robot arm to move. Robot arm joint effort controller of openmanipulator-p in gazebo can work well,but when i run in the real robot arm, it can't work!
when i run the joint effort controller, the real robot arm can output torque. i can push it by my hand, then it will return to the origin position (just like a spring). but when i run the moveit to control it, it will lock each joint, and can't move!
we get the trajectory module warning:
[ WARN] [1607226630.131100399]: Controller arm_controller failed with error code PATH_TOLERANCE_VIOLATED
[ WARN] [1607226630.131192346]: Controller handle arm_controller reports status ABORTED
[ INFO] [1607226630.131209539]: Completed trajectory execution with status ABORTED ...
i try to use a topic Publisher to control one joint, but it also can't work
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2021-01-04 16:46:24 |
wangcj777 |
Hi,
Thank you for your inquiry.
I'll request more information from the developer and get back to you.
Thank you for your patience.
=======Edited=======
Unfortunately, the examples available for OpenMANIPULATOR-P do not offer the effort controller.
If you need to use it, you'll need to create the controller for your purpose.
Thank you.
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2021-01-07 18:03:41 |
willson |