Minor joint difference between real-robot and move-it virtual robot

asked 2021-04-20 03:58:22 -0600

Ranjit Kathiriya gravatar image

updated 2021-04-20 08:45:22 -0600

Hello there,

I have seen a minor difference between a move-it simulated robot and a real robot. Does anyone have an idea what's the issue over here and how to fix this?

Rviz Moveit:

image description

Kuka smart pad:

image description

I think A1, A2 and A5 link has a slight different from rviz. How to fix this any idea or hint?

Thanks..

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Comments

1

I would suggest to use Wireshark or a similar tool to take a look at the RSI datagrams sent our by the KR C4. Or rostopic echo the rsi_xml_doc topic while the driver is running (although that would only show you the received RSI messages).

That should show you what is being transmitted by the robot and where the difference might originate.

My guess is goal tolerances.

gvdhoorn gravatar image gvdhoorn  ( 2021-04-20 08:49:47 -0600 )edit

Thanks for the reply,

I will check by following these steps.

Ranjit Kathiriya gravatar image Ranjit Kathiriya  ( 2021-04-20 09:21:12 -0600 )edit