Twist_controller speedl function error on robot teachpendant
Hello!
I'm currently working on a teleoperation project with an UR robot and I'm trying to use the twist_controller from the ur_robot_driver to control the robot.
But I keep running intro an error whenever I try to run a command such as:
danielh@danielh:~/catkin_ws$ rostopic pub /twist_controller/command geometry_msgs/Twist "linear:
x: 0.0
y: 0.01
z: 0.0
angular:
x: 0.0
y: 0.0
z: 0.0"
The error is as such:
The robot cannot reach the requested pose. Script function speedl is unable to find an inverse kinematics solution.
The real robot is in a pose similar to this one:
How is the function speedl related to this problem and what fix is there for this?
Thanks in advance!
A twist is a linear and angular velocity in a (in this case) Cartesian space.
What is the pose of your robot when you start using the twist controller?
If it's already at or near a maximum I could imagine it can't move linearly in the Y+ direction any more.
It's in a vertical pose, exactly as the one in the image from this post.