How to send Cartesian velocity and Cartesian position Kinova Jaco 2
Hello, developers!
I am not able to figure out how to publish Cartesian velocity data and Cartesian position to Kinova simultaneously? I suppose it is not difficult, unfortunately i am not able. I successfully move the gripper along Cartesian axes, i use a slightly changed demo code and publish velocity message, however, separately. Could you show me the path how to combine these two command actions?
Asked by Dornier on 2021-06-24 04:37:15 UTC
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Please edit your question and provide this information.
Asked by Mike Scheutzow on 2021-06-24 07:41:30 UTC
Yes, i'm using a demo code provided by Kinova:
I want to change the velocity along Y axis, using the action server
Asked by Dornier on 2021-06-25 01:46:24 UTC
My experience is with an older Kinova arm, but maybe it helps you.
robot_parameters.yaml
, have you changed the propertiesjointSpeedLimitParameter1
andjointSpeedLimitParameter2
to good values for your use case? In the past, this file was read only once when the kinova/$MODEL_driver
ros node started.Asked by Mike Scheutzow on 2021-06-25 07:40:02 UTC
No, i have not changed neither the file nor properties. But another one questions is coming in my mind...Is it possible to access the inverse kinematics equations somehow. I hope they should be defined somewhere inside files?
Asked by Dornier on 2021-06-25 09:32:21 UTC
Again, for the older kinova arm: we could not see or modify the Kinova IK code, which executed on a cpu inside the arm itself. However, you can run Inverse Kinematics code on your own cpu, then send a trajectory to Kinova's Joint Trajectory Action Server.
Asked by Mike Scheutzow on 2021-06-25 15:46:59 UTC