StewartHemm74's profile - activity

Thank you!

What is the terminal command to convert a ros message file to an idl file?

How to convert a ROS message file to an IDL file? What is the terminal command to convert a ros message file to an idl f

How to convert a ROS message file to an IDL file? What is the terminal command to convert a ros message file to an idl f

How to convert a ROS message file to an IDL file? What is the terminal command to convert a ros message file to an idl f

Did you ever find a solution to this issue? Did you run into the topic data mismatching (not being the same as the ros t

Where is the other related question?

General eProsima DDS Questions? Hello is there a fourm similar to ROS Answers, for DDS related questions? I have a prett

General eProsima DDS Questions? Hello is there a fourm similar to ROS Answers, for DDS related questions? I have a prett

General eProsima DDS Questions? Hello is there a fourm similar to ROS Answers, for DDS related questions? I have a prett

Terminal commands to see the underlying dds topics in ROS2? Is there a command that can show the underlying DDS topics i

Did you ever resolve this issue?

Has there been a release for kinetic or melodic?

Has there been any recent changes? I've noticed that the force data I'm reading back from the robot is wrong, and I'm cu

How can I define the kinematics_file for launching the UR16e in gazebo? I am trying to launch the UR16e in simulation, h

How can I define the kinematics_file for launching the UR16e in gazebo? I am trying to launch the UR16e in simulation, h

I'm having a similar issue trying to get gazebo to run the UR16e, my error message says Undefined parameters [kinematics

Where can I find urdf files for the UR16e and UR3e? I'm trying to use urdf files for the UR16e and UR3e. I haven't found

To Whom It May Concern,

I'm trying to use the ur10 CB series with polyscope version 3.12, Universal_Robots_ROS_Driver, ROS-Kinetic, Ubuntu 16.04. I do not want to use moveit to control the hardware. I want to use my own optimal controller to send joint velocity commands to the UR10. I have changed the ur10_bringup.launch file so that the joint_group_vel_controller is started.

ur10_bringup.launch file:

<?xml version="1.0"?>
<launch>
    <arg name="debug" default="false" />
    <arg name="robot_ip"/>
    <arg name="reverse_port" default="50001"/>
    <arg name="script_sender_port" default="50002"/>
    <arg name="tf_prefix" default="" doc="tf_prefix used for the robot."/>
    <arg name="controllers" default="joint_state_controller scaled_pos_joint_traj_controller 
        speed_scaling_state_controller force_torque_sensor_controller"/>
    <arg name="stopped_controllers" default="pos_joint_traj_controller joint_group_vel_controller"/>
    <arg name="controller_config_file" default="$(find ur_robot_driver)/config/ur10_controllers.yaml"/>
    <arg name="robot_description_file" default="$(find ur_description)/launch/ur10_upload.launch"/>
    <arg name="kinematics_config" default="$(find ur_description)/config/ur10_default.yaml"/>
    <arg name="limited" default="false"/>
    <arg name="headless_mode" default="false"/>

    <include file="$(find ur_robot_driver)/launch/ur_common.launch" pass_all_args="true">
    <arg name="use_tool_communication" value="false"/>
</include>

I've confirmed my control rate is publishing commands to the joint_group_vel_controller/command at ~125HZ. First, why are script_sender_port & reverse_port default values 50002 & 50001 respectively? In the official remote control Universal Robots support articles (https://www.universal-robots.com/arti... ), it states to use ports 30* for reading & writing data. It never mentions any values in the 50* range, so where did the 50001 & 50002 values come from?

Lastly, I've confirmed my optimal controller can properly interpret joint position & velocity commands in Gazebo. The ur10 will move in the simulation whenever a command is sent, and there are no jerky/vibrating motions. When, I test on actual hardware the joint velocity commands are smooth, however the joint positions commands cause the non-smooth motion to occur. Should I look at optimizing my PID gains? Do you have any recomendation on where to look to optimize these values for a ur10, or a baseline to start at?

I would apperciate any support trying to get smoother motion.

Thank you!

Thanks for responding, I thought the PREEMPT_RT patched kernel was only needed for the UR E-series? Is there a guide f

Thanks for responding, I thought the patched kernel was only needed for running a program on the UR-Eseries. Is it nec

Thanks for responding, I thought the PREEMPT_RT patched kernel was only needed for the the UR E-series? I'm working wi

Thanks for responding, I thought the PREEMPT_RT patched kernel was only needed for the the UR E-series? I'm working wi

Thanks for responding, I thought the PREEMPT_RT patched kernel was only needed for the the UR E-series? I'm working wi