-
Notifications
You must be signed in to change notification settings - Fork 250
New issue
Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.
By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.
Already on GitHub? Sign in to your account
Smooth Velocity Control using iiwa/command/JointVelocity #300
Comments
Hi, |
I think the issue has to do with the fact that this implementation uses the Java port and communicates via TCP which is not ideal for real-time control, nor is the Java port recommended for such an implementation. I am currently experimenting with epfl-lasa/iiwa_ros which uses FRI, but I am facing a different set of issues entirely. |
I also have the same question why ROS machine cannot communicate with the kuka iiwa in real time. When I subscribed sensor data (such as JointPosition and JointTorque) from kuka iiwa, package loss occured. |
Just chiming in to say that this may be because the acceleration in joint position/impedance modes is very high, and I've not found a way to actually reduce it. Also see #286 |
Using iiwa/commmand/JointVelocity and publishing at 10Hz, I am getting jerky motion on the joints. It seems that the robot is drifting, and correcting the error, giving jerky acceleration instead of a steady movement. After experimenting with different publish rates, it seems that the issue is rate invariant.
The text was updated successfully, but these errors were encountered: