kth-ros-pkg/yumi

how use RWS to control Live robot

Closed this issue · 3 comments

LeonRobot commented

Hi @YoshuaNava ,
First of all, let me thank you all for your works and the wiki! I was following the wiki to set-up the framework, however, when I read the section 'Live robot'(https://github.com/kth-ros-pkg/yumi/wiki/Live-robot), I don't find that how I should to do with the RWS, I think that you had miss that.

what's more, I need to control the robot joint speed，but I read the Related Issue#7，find that the EGM features is no open source. So I want to know that if I can control the position and velocity of the waypoints in realtime to make up the trajectory I want.
I want to post a joint position command to the robot every 1 second and want to make the waypoint as smooth as possible without any pause. How should I do？Can you give me some advice？

Thanks!

Leon

YoshuaNava commented

Hello @LeonRobot,
Thank you!

I just added a section describing how to launch the nodes with RWS.

If you want to get a really smooth trajectory without using EGM, I think you have to send a good number of waypoints between start and goal. In Documentation/Videos I put two examples of that, from Orebro University. @rtkg could you describe the setup you had for running those experiments?

Hope this helps,
Yoshua

LeonRobot commented

I am very glad to receive your reply. Your reply has helped me, I know what to do.
By the way, I'm in China now, the Internet can't turn over the wall. I can't see the video you uploaded now. I'll watch these videos a few days later.

Thanks!
Leon

YoshuaNava commented

Great to hear. Thanks for the feedback :)