Reply To: Niryo_one Studio connection to desktop_rviz_simulation2018-06-29T07:36:24+00:00

Forums Niryo One How to… Niryo_one Studio connection to desktop_rviz_simulation Reply To: Niryo_one Studio connection to desktop_rviz_simulation

Edouard Renard
Keymaster
Post count: 51

FIXED Niryo_one Studio Sequence Move Pose sets Y&Z from Z parameter
Found error in niryo_one_commander/scripts/arm_commander.py
def set_pose_target(self, x, y, z, roll, pitch, yaw):
try:
self.move_group_arm.set_pose_target(x,z,z,roll,pitch,yaw)

Should be
self.move_group_arm.set_pose_target(x,y,z,roll,pitch,yaw)

Thanks for noticing that ! The error was included in a recent PR. This has now been fixed.

Regarding Always dropping first trajectory point I found this article
joint_trajectory_controller – Always dropping first trajectory point #291
https://github.com/ros-controls/ros_controllers/issues/291

What is the best practices solution here?

As someone in the discussion pointed, this behavior is due to time_from_start which is 0. (in practice, this results in a higher acceleration at the beginning of a trajectory, because the controller is trying to catch up. However, the controller will always go smoothly and you won’t see abrupt movements)

A solution I see could be to add a first point in the trajectory + adding a time offset to all other points, before sending the trajectory to the joint trajectory controller. I might look into that if I have some time. Also, feel free to contribute with a Pull Request if you find something useful !

Also, the code you see now on the niryo_one_ros github will be packaged and released as a V2.0 software, in a few weeks. When it is ready, the README and documentation will be fully updated 🙂