berkeleyopenarms / blue_core Goto Github PK

...rather than relying on the softstop limits in the robot parameter yaml

#79

Hi, everyone, great work. I wonder if your compliance control algrithom code is open source, because I can't find them on github, but the lead through and compliance effect if impressive on berkeleyopenarms.github.io.

We could probably split this into like 5 separate files?

Soft stops are currently a quadratic P-term.
Need some damping to keep things from freaking out.

(Currently a ROS topic)

#82 introduces a mutex on the driver. This should be moved lower level into the BLDCDriver class.

For some reason, when running the Blue stack on an actual arm, closing the gripper manually leads to the joint_state_publisher reflecting that it is open.

Opening the gripper manually also results in the joint_state_publisher reflecting that it is closing.

I suspect that there is a missing sign change somewhere, but I'm not sure which file to edit. I'm running the stack at 0f72b06

I got error saying that "REQUIRED process [right_arm/blue_controller_manager-2] has died!"

I thought this is happening because I am using the wrong config file, so I tried the following two but both not working.

• "blue_bringup>config>robot_parameters_right.yaml"
• "blue_config>blue_right_v2.yaml"

FYI. I am using following setting.
OS: Ubuntu 18.04
ROS dist: Melodic

let's make this more readable!
https://github.com/berkeleyopenarms/blue_core/blob/master/blue_bringup/scripts/calibrate_joint_offsets.py

Do I have to edit "blue_bringup>config>robot_parameters_right.yaml" ?
or do I have to make a new config file using "blue_configs" repo and place it under blue_bringup?

Should we be forcing blue to be fixed at the origin in Gazebo with the world joint?

That stops the model from being moved around which might be inconvenient if people want to simulate the robot somewhere else in a simulated world.

The read and write function should properly match the functions defined in the parent RobotHW class. See https://github.com/ros-controls/ros_control/blob/melodic-devel/hardware_interface/include/hardware_interface/robot_hw.h

http://wiki.ros.org/catkin/package.xml

It is saying "Robot model parameter not found! Did you remap 'robot_description'?"

I try replaced the "robot_description" in blue.rviz into "blue_description" but did not help.
It seems like ros cannot load robot model. Do I need to run other rosrun before running this?

FYI. I am using following setting.
OS: Ubuntu 18.04
ROS dist: Melodic

Instruction says "Proceed to setup the arm with power supply and USB adapter ("Electrical Setup" in Quick Start Guide)" but I couldn't find the Quick Start Guide.