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[JTC] Explicitly set hold position #558
[JTC] Explicitly set hold position #558
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(cherry picked from commit bbc13b2)
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## master #558 +/- ##
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- Coverage 35.78% 30.88% -4.90%
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Files 189 7 -182
Lines 17570 832 -16738
Branches 11592 505 -11087
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+ Misses 994 133 -861
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I just had the time to test on our FR3 robot. And it still didn't solve the hold position issue. I didn't dive deep in debugging, but basically the robot successfully goes to the goal position and either free falls down or drags slowly sideways. We are only using effort commands. I will test today again. |
To ensure that I understand you setup: Are you using effort command with active feedback gains of the PID controller? |
I think I've found a possible issue, do you have set a |
I didn't explicitly set a |
I checked that now, false alarm. It could happen only if the PID can't hold the position (wrong tuning, effort limit,..), then it might enter a loop setting a new hold position again and again. |
I think the problem is set_hold_position() is never get called in our case. When I add this |
in our case |
Do you use the topic or action interface? In case of the latter, do you get a success action result? |
@BarisYazici do you have a public repo with which I could try your setup? |
yes, here is the launch file I used to try JTC - https://github.com/frankaemika/franka_ros2/blob/humble/franka_moveit_config/launch/moveit.launch.py . All settings are default. I removed the old JTC in our repo and added the one in humble branch from ros2_controllers. Devcontainer in the repo should reflect my setup. |
This PR hasn't been backported to humble yet, which means you were still testing the old version of JTC. Could you give it a try with this manual cherrypick please? |
You are right, my mistake. I tested it, and it works as expected. We will remove the old JTC from our repo in the next update. |
thanks for the feedback |
Using velocity or effort command interface: After canceling a goal (tolerances or manually by cancelling the action) the movement is not stopped, see #514. Thanks to @c-rizz for proposing a solution fixing #514
Edit:
The behavior after merging this PR is the following:
set_hold_position
is called atset_hold_position
meansThis should fix