toni-sm / libiiwa Goto Github PK

libiiwa_moveit_rviz
https://user-images.githubusercontent.com/22400377/213265349-215f02fb-fb3e-4c7d-9540-c26849d8bfe1.mp4

Hello, developer! @Toni-SM . Thank you for this repo! There is a KUKA iiwa7 in my lab. So far，we utilize the iiwa_stack or even "iiwa_ros" repo to control KUKA iiwa7. However, we have met some problems. 1. iiwa_stack is too slow due to the Protocol used in this repo. And iiwa_stack does not provide the API to control joint_torque. So a lot of useful controller, e.g., LQR, could not be implemented via iiwa_stack. 2. iiwa_ros is not very stable. For example, KUKA iiwa7 will randomly swing when the control mode is set as "Position". And there are some problems happen in gravity compensation when the tool is attached on the end-effector of iiwa7. So I wanna to ask some questions about this repo. Which protocol used in this repo? Does any controller example rely on the joint_torque have been implemented on the real robot via this repo? Or could you provide more real-robot examples which the input of the controller running on the real robot is joint_torque? Looking forward to your reply! :-)

Description

Hi, we have followed all your instruction step by step for setting up the Libiiwa package. when we start connect to the project in teach pendant we didnt hear any sound of brakes unlocking . then we opened a new terminal and launched "roslaunch libiiwa_ros default.launch".

Problem 1:
In new termainal we ran direct command "rostopic pub -1 /iiwa/command/joint sensor_msgs/JointState "{name: ['iiwa_joint_1', 'iiwa_joint_2', 'iiwa_joint_3', 'iiwa_joint_4', 'iiwa_joint_5', 'iiwa_joint_6', 'iiwa_joint_7'], position: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.2]}", then sound of brake unlocking was released and it did move but still we got error in terminal "failed to command position to [0.0, 0.0,0.0,0.0,0.0,0.0,0.2] and error.NO_ERROR". Again we gave new position and we didn't get that error and the joints are moving .

Problem 2:
We tried to control the Cartesian pose and we got error that process has died and we had to restart the whole.

Problem 3:
We tried using using **"roslaunch iiwa14_moveit_config real.launch" **and we where getting an error in teach pendant that "Communication error: timeout reached :0 milloseconds" when we are trying to click plan and execute in rviz.

Steps to reproduce

1.Select libiiwa project from teach pendant
2.we launch "roslaunch libiiwa_ros default.launch"
3.we click run in teach pendant and we get the following " connection from 172.31.1.147:18001" which is our ip address of sunrise workstation.
4.roslaunch iiwa14_moveit_config real.launch
5.rotate joint 7 in rviz by few degrees and click "plan and execute" button.

Setup information

Describe the characteristic of your setup:

• Python version: [3.8.10]
• ROS version: [Noetic]
• OS: [ Ubuntu 20.04]
• libiiwa (Python) version [0.1.1-beta]
• libiiwa (Python) API version [0.3.1-beta]
• LibIiwa (JAVA) API version: [0.3.1-beta]

Checklist

• I have checked that there is no similar issue in the repository (required)