Hi, Im a student who is working on a research project with the ZA6 6 DOF arm. I am attempting to implement force based feedback control using the joint torques published to the ‘/joint_states’ topic to get the current force on the end effector and continuous jogging for the movement (preferably in a set direction/at a set speed).
When I try use the command line ros interface to jog the robot, the Robot responds as follows:
- publishing “{‘frame_name’:‘’,‘axis_names’:[‘x’,‘y’,‘z’,‘a’,‘b’,‘c’], ‘values’:[560,0,700,0,0,0]}” (or other viable position) to \jog\continuous\set_pose resulted in erratic movement
- publishing “{‘frame_name’:‘’,‘axis_names’:[‘x’,‘y’,‘z’,‘a’,‘b’,‘c’], ‘values’:[560,0,700,0,0,0]}” (or other viable position) to \jog\absolute\set_pose resulted in no movement
- publishing “{‘joint-names’:[‘joint_1’,‘joint_2’,‘joint_3’,‘joint_4’,‘joint_5’,‘joint_6’], ‘values’:0,0,0,0,10,0]}” (or other viable pose) to either \jog\absolute\joint_pose or \jog\continuous\joint_pose resulted in the joints moving at full speed in the direction of the sign of the number, but they dont stop when they reached the correct position.
Note: units are set to mm/deg/sec, “{‘execute’:True}” is published to the /jog/execute topic a 10 hz in a separate terminal for the duration of the move for all of the previous commands, and everything is run from the ros-dist-ui docker.
If anyone has any advice on how to get continuous jogging working through ros your help would be appreciated.