Joint speed control from ROS

[akihikoy]

As mentioned in kortex-issues#3, the SendJointSpeedsCommand function is now available with the 2.0 release.
Can we control joint speed from ROS? In that case, could you explain how to do that?
Or, should we directly use SendJointSpeedsCommand through kortex?

Best,
--Akihiko

[akihikoy]

I have found the way of joint velocity control of Gen3.
On ROS, SendJointSpeedsCommand is available through the /my_gen3/base/send_joint_speeds_command service. It seems to be a standard joint angular velocity control, and there is no issue so far.
A note is that we need to specify the angular velocities in degrees per second (not rad per sec as usual ROS message).

My test code is available from: https://github.com/akihikoy/ay_test/blob/master/ros/py_ros/gen3/velctrl1.py
Video: https://youtu.be/BzuPKjanXP4

[gstlaurentkinova]

Hi @akihikoy

Glad you were able to solve your issue. This is indeed the preferred solution.

I will close this issue since the problem seems to be solved.

Do not hesitate to reopen this issue if there is anything with the functionality.

Best,
Gabriel