Realtime Velocity and Position control

[kalepo]

Im trying to achieve real time control of my robot arm in ROS.
Im currently able to send positions into the position controller but its very slow.
I want to be able to achieve real time control.
How would I go about to do this?

[gavanderhoorn]

Please start by describing in detail what you've done so far, and what result that had.

Include information about used versions, configurations of controllers (both ROS and the IRC), etc.

And please clarify how this is related to #63.

[Chastj]

It was strange that when I use set_egm_settings to set the max_speed_deviation, the robot speed seems no change, I try to set speed ratio by /rws/set_speed_ratio, it does not change speed of robot, I use position trajectory controller in moveit, but it seems the speed only affect by the settings I modified in robot studio rapid settings.

[gavanderhoorn]

Changing the settings can only be done before starting a new EGM session.

I try to set speed ratio by /rws/set_speed_ratio, it does not change speed of robot

AFAIK (and IIRC), final EGM velocity is not influenced by the speed override (or robot speed). You must change the EGM settings for that.

[gavanderhoorn]

@Chastj: you may be interested in sam-xl/abb_robot_driver_state_machine. It automates some of the steps needed to use abb_robot_driver.

It's ROS 1 only though.

[Chastj]

Changing the settings can only be done before starting a new EGM session.

I try to set speed ratio by /rws/set_speed_ratio, it does not change speed of robot

AFAIK (and IIRC), final EGM velocity is not influenced by the speed override (or robot speed). You must change the EGM settings for that.

I find that change the max_speed_deviation in robot studio rapid settings can affect robot speed when use position_trajectory controller in moveit, but when use set_egm_settings to change the max_speed_deviation, it can't change the robot speed. what can I do if I want to change robot speed when use moveit?

[gavanderhoorn]

I would suggest to take a look at the order of operations (ie: service calls) the already mentioned abb_robot_driver_state_machine uses.

It is capable of changing the max_speed_deviation using the set_egm_settings service.

[kalepo]

Hi @gavanderhoorn whats your thoughts on this?