IFL-CAMP/iiwa_stack

Smooth Velocity Control using iiwa/command/JointVelocity

priyampnchl opened this issue · 4 comments

priyampnchl commented

Using iiwa/commmand/JointVelocity and publishing at 10Hz, I am getting jerky motion on the joints. It seems that the robot is drifting, and correcting the error, giving jerky acceleration instead of a steady movement. After experimenting with different publish rates, it seems that the issue is rate invariant.

Carlz182 commented

Hi,
did you manage to resolve the issue? I am facing the exact same problem. Even using a Realtime Kernel did not help much.

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priyampnchl commented

I think the issue has to do with the fact that this implementation uses the Java port and communicates via TCP which is not ideal for real-time control, nor is the Java port recommended for such an implementation. I am currently experimenting with epfl-lasa/iiwa_ros which uses FRI, but I am facing a different set of issues entirely.

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BoWangFromMars commented

I also have the same question why ROS machine cannot communicate with the kuka iiwa in real time. When I subscribed sensor data (such as JointPosition and JointTorque) from kuka iiwa, package loss occured.

umicharmlab commented

Just chiming in to say that this may be because the acceleration in joint position/impedance modes is very high, and I've not found a way to actually reduce it. Also see #286