Initial positions are set to 0 causing sudden movement#67
Initial positions are set to 0 causing sudden movement#67daniel-kovari wants to merge 4 commits into
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daniel-kovari
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Will test on the hardware!! Thanks |
ggorjup
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ggorjup
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I tested this on real hardware and it seems to work fine.
In case it's useful, I'm suggesting a couple of simplifications.
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Thanks for the work!
Could v10_hardware.cpp go into a separate PR? This looks unrelated to the zero-position issue.
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Hi, I cleaned up the PR. I moved the changes for gravity compensation onto another feature branch: https://github.com/Kovari-Industries/openarm_ros2/tree/feat/gravity-compensation. It is using a KDL chain and implying the urdf from the controller manager - HardwareInfo::original_xml. This works for me and makes the controls much smoother. If this is a valid implementation, I can put that up as a separate PR.
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Thanks for splitting that out. It's much cleaner to review now.
Gravity compensation is something we're interested in as well, so please feel free to open it as a separate PR.
We can discuss the design (KDL chain, reading URDF via HardwareInfo::original_xml, etc.) over there.
Co-authored-by: Gal Gorjup <gorjup.gal@gmail.com>
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| read(rclcpp::Time(), rclcpp::Duration(0, 0)); |
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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?
on_activate()에서 return_to_zero() 대신 set_current_pose()를 호출하여 활성화 시 현재 위치를 커맨드 초기값으로 설정함 기존 return_to_zero(): - 모든 관절을 position=0.0 으로 MIT 제어 - 어떤 자세에 있든 활성화 순간 0 rad로 강제 이동 → 갑작스럽고 위험한 움직임 수정 set_current_pose(): - read()로 현재 모터 상태를 읽음 - 현재 위치를 커맨드 초기값으로 설정 (pos_commands_[i] = pos_states_[i]) - 활성화 순간 움직임 없음 → 이후 trajectory 명령부터 부드럽게 시작 참고: enactic#67
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Fixes #66