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Initial positions are set to 0 causing sudden movement #67

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Initial positions are set to 0 causing sudden movement #67

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4758854
Added function to set the current pose of the arms in activate
daniel-kovari Nov 8, 2025
bac3afa
return to zero
daniel-kovari Nov 8, 2025
1286061
removed zero pose
daniel-kovari Nov 8, 2025
e16476c
Update openarm_hardware/src/v10_simple_hardware.cpp
daniel-kovari May 2, 2026
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1 change: 1 addition & 0 deletions openarm_hardware/include/openarm_hardware/v10_simple_hardware.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -138,6 +138,7 @@ class OpenArm_v10HW : public hardware_interface::SystemInterface {
void return_to_zero();
bool parse_config(const hardware_interface::HardwareInfo& info);
void generate_joint_names();
void set_current_pose();

// Gripper mapping functions
double joint_to_motor_radians(double joint_value);
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17 changes: 15 additions & 2 deletions openarm_hardware/src/v10_simple_hardware.cpp
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Expand Up @@ -224,8 +224,7 @@ hardware_interface::CallbackReturn OpenArm_v10HW::on_activate(
std::this_thread::sleep_for(std::chrono::milliseconds(100));
openarm_->recv_all();

// Return to zero position
return_to_zero();
set_current_pose();

RCLCPP_INFO(rclcpp::get_logger("OpenArm_v10HW"), "OpenArm V10 activated");
return CallbackReturn::SUCCESS;
Expand Down Expand Up @@ -317,6 +316,20 @@ void OpenArm_v10HW::return_to_zero() {
openarm_->recv_all();
}

void OpenArm_v10HW::set_current_pose() {
RCLCPP_INFO(rclcpp::get_logger("OpenArm_v10HW"),
"Setting current position...");

// Use read() to populate state arrays
read(rclcpp::Time(), rclcpp::Duration(0, 0));
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@abetomo abetomo May 3, 2026

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What if CAN communication fails? Won't pos_states_ be left holding a stale or default value after read()?
Would it make sense to add a safety check?


// Copy current states to commands and zero velocities/torques
for (size_t i = 0; i < joint_names_.size(); ++i) {
pos_commands_[i] = pos_states_[i];
vel_commands_[i] = 0.0;
tau_commands_[i] = 0.0;
}
}
// Gripper mapping helper functions
double OpenArm_v10HW::joint_to_motor_radians(double joint_value) {
// Joint 0=closed -> motor 0 rad, Joint 0.044=open -> motor -1.0472 rad
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