cpezzato / panda_simulation Goto Github PK

Hello,I meet a problem.My ubuntu version is 16.04 with gazebo 7.When I do "roslaunch panda_simulation simulation_single.launch",it works.But when doing "rosrun panda_control panda_control_AIC_single",the robot can't move.And there are no rostopics published.These are some screenshots:

What's more,I don't use the singularity image,is there any influence?
I would appreciate it if you could solve my problem.

linux: ubuntu 20.04
ros : neotic
gezebo: 11

I have try your code in the other robot but can not find right k_a or k_mu

Hi, cpezzato!

Using AIC, we set the toques from u and publish for controlling actions. Can we set the joint velocities instead of torques? And Can we use the following computation by just tuning k_a, SigmaP_yq1 and SigmaP_yq0 for joint velocities?
u = u-hk_a(SigmaP_yq1*(jointVel-mu_p)+SigmaP_yq0*(jointPos-mu))

Best regard!