2021-01-15 19:28:05 wangcj777
I want to use effort_controllers/JointTrajectoryController to control the real openmanipulator-p robot, but it can't move.
I did create my own controller "open_manipulator_p_controllers/ComputedTorqueController" (look at "my_controller.jpg"), but it alway like the " effort_controllers/JointTrajectoryController". Both of them can control the robot only in the simulation software gazebo. When I try to control the real robot, them can't work. (all the joints seem to be locked)
why the controller can work in simulation, but can't in real robot? Is there have some matter in the hardware interface which downloads from the github (look at "effort_type.jpg"), or if I need to change some config? (I changed the interface type, look at "open_manipulator_p_hw.jpg")
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2021-01-15 19:28:05 |
| wangcj777 | |
2021-01-19 15:35:54 Will Son
Hi,
I'm sorry about the delayed response and thank you for the gentle reminder.
In order to use the OpenMANIPULATOR-P as collaborative arm, you should create your own controller as default open_manipulator_p_controller is based on joint control rather than torque control.
Simulation does not 100% reflect the actual environment and you might need to refine your controller model.
Thank you.
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2021-01-19 15:35:54 |
| willson | |
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my_controller.jpg