Controlling robot in real time

[sinamr88]

Hi All,

I am using the ROS interface for controlling the robot in real time (yumi_pos_control.launch), however, I am a bit confused. Everything seems nicely working except the fact that there is no topic for sending desired joint positions to the robot. I can read the current state of the robot from /yumi/joint_states. But there is no other equivalent-topic for sending joint-positions to the robot. Nevertheless, by running yumi_pos_control.launch, /yumi/joint_trajectory_pos_controller/command is created which, I assumed that, is used for sending entire trajectory and not the desired next step without delay; am I right?

I appreciate any help...:)

Best,
Sina

[sinamr88]

Hi Guys,

So, I've tested /yumi/joint_trajectory_pos_controller/command for sending the desired joint position and as expected it is super slow, particularly when the robot is controlled in the closed-loop with the real-measured-state. Can anyone help me?

Best,
Sina