control kuka with velocity control

[shz111]

Hello, I have a question about the control module that if i can use twist_controller like ros1 or the move_servo to velocity control instead position control cause i wanna make the end-effector move along straight line. I am expecting you can give me some suggestions. Thank you very much!

[mhubii]

Hi @shz111 , sorry for the late response. This is a common issue and is currently missing here.

There might be ros2_controllers that compute joint velocities from twists, which could be used, but it would be helpful to add this here.

[mhubii]

Hi @shz111, MoveIt servo is now added, see doc: https://lbr-stack.readthedocs.io/en/latest/lbr_fri_ros2_stack/lbr_demos/lbr_moveit/doc/lbr_moveit.html#moveit-servo

One issue, the PID here:

lbr_fri_ros2_stack/lbr_ros2_control/config/lbr_system_parameters.yaml

Line 10 in 95ffd41

pid_p: 0.1 # P gain for the joint position (useful for asynchronous control)

Makes the real system move rather slow at the moment. This remains to be sorted.