Move to current ros2_control launching and controller#1
Move to current ros2_control launching and controller#1AdamPettinger wants to merge 2 commits intosjahr:pr_add_servo_solverfrom
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| type: joint_trajectory_controller/JointTrajectoryController | ||
| joint_state_controller: | ||
| type: joint_state_controller/JointStateController | ||
| panda_joint_group_position_controller: |
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@AdamPettinger Thanks for the PR, I will get these changes merged. One question: Why did you remove this controller config? I've included it to show that both interfaces can be supported (kind of similar to moveit_servo)
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Ah, sorry I missed that point. I was copying the servo and moveit_cpp demos since an update to ros2_control launching (looks like it happened after you started this work), see the current servo launch files. I would be more than happy to put it back and have both interfaces available
Yes, that sounds reasonable, I think it is useful when the robot moves slower near potential collision objects but it should not stop too quickly. Is it possible to configure this behavior with the currently existing parameters? (Decelerate early but slower in terms of the degree of deceleration)
I've experienced jerky simulated motions and thought it is related to the controller frequency. Did the demo_controller.yaml file worked for you? |
Unfortunately, no. I think the best way to handle this might be to leave Servo collision checking enabled (but very tight bounds), and then do some other collision checking in the local planner that triggers a global re-plan with a larger threshold (so we never get to Servo collision handling hopefully)
It did, not too jerky. The annoying thing is the Servo slowing way down near collision and making the local planner take a long time to get away from an object |
Refactor Global and Local Planner Components into NodeClasses Add a simple launch test (#1) Try to fix plugin export; add helpful debug when stuck Error if global planning fails READY and AWAIT_TRAJ states are redundant Lock the planning scene as briefly as possible Specify joint group when checking waypoint distance Implement a reset() function in the local planner Detect when the local planner gets stuck
Refactor Global and Local Planner Components into NodeClasses Add a simple launch test (#1) Try to fix plugin export; add helpful debug when stuck Error if global planning fails READY and AWAIT_TRAJ states are redundant Lock the planning scene as briefly as possible Specify joint group when checking waypoint distance Implement a reset() function in the local planner Detect when the local planner gets stuck
Refactor Global and Local Planner Components into NodeClasses Add a simple launch test (#1) Try to fix plugin export; add helpful debug when stuck Error if global planning fails READY and AWAIT_TRAJ states are redundant Lock the planning scene as briefly as possible Specify joint group when checking waypoint distance Implement a reset() function in the local planner Detect when the local planner gets stuck
Refactor Global and Local Planner Components into NodeClasses Add a simple launch test (#1) Try to fix plugin export; add helpful debug when stuck Error if global planning fails READY and AWAIT_TRAJ states are redundant Lock the planning scene as briefly as possible Specify joint group when checking waypoint distance Implement a reset() function in the local planner Detect when the local planner gets stuck
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Closed this PR since it got too stale |
Description
A small one, just launches the panda controller like the rest of the MoveIt demos and tutorials do. This involved switching the output from Servo.
I also played around a little bit with the Servo collision parameters - making the collision checking run faster and letting it get closer to objects before it considered a collision dangerous. I think (?) it had a little improvement on using Servo for the local planner, let me know what you think.
One note, now the
demo_controller.yamlconfig file is very close to the one in the Panda moveit config package that the other demos use, so unless you really want that 500 hz rate, maybe switch the launch files to point to the other file and delete this one?