configuration service not working

[gioppitt]

Hi everyone, I am struggling with making configuration servers work. I've tried some of them and no one seem to influence the way my robot works. In particular, I would like to limit the speed, for safety reasons.

Here is an example of how I am using the service:

    ros::ServiceClient client = robot_node->serviceClient<iiwa_msgs::SetPTPCartesianSpeedLimits>(client_str);
    iiwa_msgs::SetPTPCartesianSpeedLimits config;
    config.request.maxCartesianVelocity = speed;
    config.request.maxOrientationVelocity = speed/10;
    config.request.maxCartesianAcceleration = -1;
    config.request.maxOrientationAcceleration = -1;
    config.request.maxCartesianJerk = -1;
    config.request.maxOrientationJerk = -1;

    if (client.call(config)) {
        if(!config.response.success)
            ROS_ERROR_STREAM("Config failed, Java error: " << config.response.error);
        else
            ROS_INFO_STREAM("Path Parameter Service successfully called.");
    }
    else {
        ROS_ERROR_STREAM("Config failed - service could not be called - QUITTING NOW !");
    }

Everything "seems" to be working correctly, as I get the output "Path Parameter Service successfully called." on my terminal. However, even if "speed" is set to 0, the robot moves.

Thanks in advance for your help.

Giovanni

[exo-core]

Hi Giovanni,

the SetPTPCartesianSpeedLimits only influences the speed for point-to-point motions that are used for the ROS action interface. If you control the arm via MoveIt! or and other ROS based controller that sends position targets with a certain frequency you need to change the SmartServo speed limits instead using the SetSmartServoLinSpeedLimits service.

[gioppitt]

I see your point, but I had already tried every service and no one acts on the speed.

However, I tried again what you said and no effect: I succeed in calling the service but there is not effect on the robot's motion. Any other suggestion?

Thank you very much.

[RuihanGao]

I have the same problem. Calling the service in the command line instead of in scripts works for me. ANy help with calling the service in scripts will be greatly appreciated.

[CodingCatMountain]

@RuihanGao Hi, Have you try to change to JointImpedanceControl mode via Calling the service in the command line?? Each time, I do it return a fail...

[RuihanGao]

Sorry I haven't tried it yet. I only tried to use the Impedance control in manual mode.