Cartesian velocity control #191
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thank you for the PR @OmidRezayof. Left you some review. Hope this makes sense to you, let me know
| @@ -126,20 +126,18 @@ class JointPIDArray { | |||
| using pid_array_t = std::array<control_toolbox::Pid, KUKA::FRI::LBRState::NUMBER_OF_JOINTS>; | |||
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| public: | |||
| JointPIDArray() = default; | |||
| JointPIDArray() = delete; | |||
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could you please make sure to pull the latest changes from the humble branch?
So that no changes are made to the driver.
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Thanks @mhubii. I'm a little confused. Didn't you change the pid parameters and how they are configured based on the Issue in this commit?
I was checking my lbr_system_parameters.yaml with yours and they're the same?
| @@ -4,7 +4,7 @@ hardware: | |||
| port_id: 30200 # port id for the UDP communication. Useful in multi-robot setups | |||
| remote_host: INADDR_ANY # the expected robot IP address. INADDR_ANY will accept any incoming connection | |||
| rt_prio: 80 # real-time priority for the control loop | |||
| pid_p: 10.0 # P gain for the joint position (useful for asynchronous control) | |||
| pid_p: 0.1 # P gain for the joint position (useful for asynchronous control) | |||
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same goes for the config file here.
| and is broadly attributable to Dr Alambeigi (who taught the course). | ||
| ''' | ||
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| import numpy as np |
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is there a way to provide this functionality through a pip installable library?
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| #! /usr/bin/env python3 | |||
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| import rclpy | |||
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you'll have to run the black formatter to pass the linting tests for all python files
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closing in favor of #192 |
Cartesian velocity control.
NOTE: This code is under development and may still have issues.
DO NOT try this code near robot singular points. Also, if you're using the motion planning in move_2_cart, be aware that singularities may occur when converting quaternions to euler angles and this may cause unexpexted movements.
Also, unexpected/fast movements may occur if the computer is under load from other tasks and cause delays in the calculation of motion planning so ALWAYS keep your hand on the safety button to be sure.