dynamixel-community/dynamixel_hardware

Problem with reaching the set position precisely

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sebastiandz commented

Hello,
I'm using dynamixel_hardware for integration arm manipulator based on ROS2 Rolling, MoveIt2 and Dynamixel XL-330 servos.
In general, my code works and is stable. Unfortunately, with option use_dummy=off (enabled control of connected servos) the arm doesn't exactly reach the target position. It's as if it loses the last "frame" of the moveit. When I turn off the servo control (use_dummy=on) the arm will reach the target precisely. Servos are controlled in velocity mode.

Below are my Rviz visualization videos.
The problem of reaching the target position (use_dummy=off):
video with precision problem

The arm precisely reaches the set position (use_dummy=on):
video with correct precision

I would appreciate suggestions how to solve the problem.

Thanks,
Sebastian