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How to enable Cartesian Pose Controller in fetch driver #35
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Also running into this issue. Adding arm_controller/cartesian_pose to fetch_bringup/config/default_controllers.yaml and restarting the robot service does not start it. Running the following does not work:
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I'm actually not sure if the cartesian pose controller has ever been tested - there may be issues in the underlying code... |
Thanks @mikeferguson for the quick reply. I will try to get it active and test it over the weekend. |
I wrote a cartesian PD controller myself, you may want to try it out you may want to adjust the parameters in cart_server.py for better speed. |
great to hear it works for u!
unfortunately, i have not yet tried in simulation
Yours sincerely,
Juekun
PhD Candidate, School of Computing
National University of Singapore
…On Sun, Oct 21, 2018 at 6:26 AM glebshevchukk ***@***.***> wrote:
@ljklonepiece <https://github.com/ljklonepiece> Thanks for sharing the
library, it works on our real Fetch! I think you did the right thing with
sending converted positions to the cartesian_twist command topic.
Interestingly, in simulation, I'm running into the issue described in
ZebraDevs/fetch_gazebo#19
<ZebraDevs/fetch_gazebo#19>, which prevents
the cartesian_twist controller from working properly. Did you happen to run
into this?
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Hi there,
in robot_controllers pkg, there is a class called CartesianPoseController.
It seems that this function has not been activated in fetch_drivers or fetch_bringup, may I know how I can use this class? since I think it may be useful to execute a short straight line path directly without external planner (such as by Moveit!)
Comments are welcome!
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