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Greetings.
I am quite new with ROS and I am still pending to identify something.
Is there already implemented in ROS the control of joint speeds for Universal Robots manipulators?
I have identified the speedJ() function from URScript language (native for UR controllers), which allow joint speed control, but not for ROS.
Any information will be welcome.
Thanks.
At least the ur_modern_driver supports joint velocity control with the ros_control setup in kinetic-devel (the old driver (master branch, deprecated) supported a /joint_speed topic, but that has not been ported to the new version).
Velocity setpoints are directly mapped onto speedj(..) statements on the controller.
See ros-industrial/ur_modern_driver#218 for some discussion on using ros_control's JointGroupVelocityController.
Asked: 2019-04-22 07:03:47 -0500
Seen: 1,238 times
Last updated: Apr 22 '19
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