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Joint trajectory action: robot moves unexpectedly

We have the following situation with a Baxter research robot:

  1. Turn robot on.
  2. Move robot using Joint Trajectory Action (this works fine).
  3. Turn robot off.
  4. Turn robot on. This makes the robot move on its own!

I was following these tutorials:

http://wiki.ros.org/dynamixel_controllers/Tutorials/Creatingdynamixelactionclient http://projects.csail.mit.edu/pr2/wiki/index.php?title=Simple_program_to_move_the_arm_to_a_joint_position

Asked by atp on 2015-10-26 14:29:38 UTC

Comments

Without (much) more info it will be very difficult to help you. Also: please restate this as a question.

What robot are we talking about, who wrote the joint_trajectory_action, what OS, what version, how installed, what did you do exactly, etc, etc.

Asked by gvdhoorn on 2015-10-26 15:26:49 UTC

Yes, you were right. The JTA was written in such a way that it stored the last joint action send to it. Figured this out by contacting the manufacturer.

Asked by atp on 2015-10-26 21:32:24 UTC

Could you add some info on what specific robot this is? Might help future readers / google searchers if/when they run into the same problem.

Asked by gvdhoorn on 2015-10-27 02:38:06 UTC

Sure, good idea. I've added it.

Asked by atp on 2015-10-27 09:49:18 UTC

Answers