Mingshan-Beal

末端力传感器

Hi, @Luminary-S, Thanks for your work on the real robot and focus on this project. For the `joint torque controller` which is used as the PID controller, I am not...

Actually, it is sure that the official document and hardware have not provided the joint torque control interface, and you just can simulate it in the ROS. About this, you...

Hello, This is not a serious error. It happens in the previous issues. #6 I think that issue can answer your problem.

Did you clean the files which are generated by `catkin make`? I hope you can run `catkin clean` if you have not cleaned it yet.

Actually, I don't know what's wrong with this. But you could strictly refer to that issue, who has successfully compiled

Actually, the error is not related to VMWare. When I tried to develop this project in the `kinetic`, `melodic`, and `noetic` versions, I used VMWare. I think this project needs...

我已经在仿真环境下维护了导纳控制，请尝试运行，谢谢对本项目的关注 I have update this repo, please test in your environment if it is possible

First, You need to use the launch file in the Universal Robot ROS Driver to create the communication between the PC and UR5e, Because this official driver is based on...

> 你好，感谢你上传的力控代码，我在移植代码时会认真地标明出处。 > > **问题：** 我尝试将你写的基于ur5e的导纳控制仿真移植到，自己搭建的7DOFs机械臂上，以下是我的模型：  > > 我在移植 **https://github.com/MingshanHe/Compliant-Control-and-Application/tree/noetic/robots/universal_robot/fmauch_universal_robot/ur_description/config/ur5e** ，这个目录下的yaml文件时，遇到了困难，请问 > > * default_kinematics.yaml > * physical_parameters.yaml > 这两个文件内容，是如何获取的？ > > 感谢 这两个文件都是关于UR5e机械臂的机械参数，当时是用到了UR5e机械臂官方URDF的包，如果移植，可以通过正确的URDF代替。