The error occurs when running the Joint Trajectory Controller (Simulation) in lbr_demos_py.
#242
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abaicoming
changed the title
lbr_demos_py.
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hi @abaicoming, apologize the late response. Sorry, I cannot replicate this issue. There is an issue with invalid joint names #244, but it seems unrelated to your issue. Might there be an issue with the simulation in your case? It is a bit difficult to see this from the short terminal snippet. |
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Thank you very much for your reply. Yes, #244 and I are using the same demo, but we encountered different issues. Below, I will provide more detailed terminal output: The following issues appeared in Terminal 1: The following issues appeared in Terminal 2: The document mentions that this demo is conducted in a simulated environment, so a physical KUKA robot should not be required, correct? |
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no worries, hope I'll be able to help. I re-opened #17. Regarding Gazebo, maybe something changed on the |
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Thank you very much for your response. I understand that the latest system versions always come with various compatibility issues, but as the saying goes, curiosity killed the cat. When I downloaded it, I just wanted to give the latest system a try. Fortunately, I have a physical robotic arm, and thanks to KUKA's excellent safety design, conducting experiments in T1 mode is safe enough without needing to run them in a simulation environment first. Moreover, I always have the last resort of reinstalling Ubuntu and the ROS 2 system and using a more stable version. This is why resolving issue #17 is more critical for me, as I really need to get this expensive machine running to conduct some experiments. Unfortunately, after several days of effort, I still haven't been able to resolve #17. I’ve tried asking questions under issue #17 and even emailed the original poster, but I haven’t received any response. I also tried uninstalling and reinstalling the I suspect that the problem might be related to the version of The error in
If these errors give you any ideas on how to resolve the issue, please let me know. I would greatly appreciate it. |
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apologize the inconvenience. Since you are using version I hope we can get your robot running shortly. Thank you for the detailed explanations. |
Thank you very much for your reminder.Since the version of By the way, when running Is it necessary to perform the operation on the smart pad, as mentioned in #217 [https://github.com//issues/217#issuecomment-2453021393] , to load the data calibration? Fortunately, running It seems that this is mentioned in #42. Finally, there are a few things that are bothering me, and I would like to ask:1. In lbr_demos_advanced_cpp -> Twist ControllerThe target being tracked is a 6D force in Cartesian space: If the external force reaches the target force, the manipulator should theoretically stop. However, during testing, I found that it does not. 2. lbr_demos_py -> LBR Wrench Command Controller (Hardware only)After starting the code, I observed that the robot's end effector does indeed move with a small sinusoidal displacement in the XY plane. Based on the name, I initially thought it was just a force control program, but after checking the code, I found it’s not the case. I noticed that the 3. lbr_demos_advanced_py -> admittance_controller.pyI looked at the code and found that the implementation approach is roughly as follows: Apologies for the lengthy message. If you have some time, could you kindly take a look? Once again, I truly appreciate your enthusiastic help. |
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happy to hear things are running (mostly) now @abaicoming.
You can comment this line to run the admittance control. This line was added because load data calibration is currently not documented. If a weight is attached to the end-effector, this may currently cause undesired behavior. Apologies for that.
To my best understanding, a twist describes a velocity, not a force.
Correct, this is a Cartesian impedance control.
Sounds like a great idea! I haven't thought about this yet. Thanks again for these great insights and detailed explanations! Is it okay to close this issue for now and solve the invalid joint names in #244? |
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Once again, thank you for your helpful responses.
Of course, feel free to do so. |
"I encountered a problem when running the Joint Trajectory Controller (Simulation) in
lbr_demos_py.In Terminal 1, I launched the LBRBringup with the following command:
In Terminal 2, I ran the
joint_trajectory_clientwith the following command:The following issues appeared in Terminal 1:
The following issues appeared in Terminal 2:
May I ask why this is happening? Thank you very much!
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