Arne Peters

You can use the `/iiwa/configuration/setSmartServoLinLimits` service to configure the Cartesian velocity limits.

You would need to provide a custom implementation of the `ROSTool` class and change the line ``` protected ROSTool rosTool = null; ``` in `/src/de/tum/in/camp/kuka/ros/app/ROSBaseApplication.java` to load it. There are...

When you want to ignore the redundancy data in a `iiwa_msgs/CartesianPose` you need to set `status` and `turn` to `-1`: ``` ~$ rosmsg show iiwa_msgs/CartesianPose geometry_msgs/PoseStamped poseStamped std_msgs/Header header uint32...

Short update: - Due tdo the crash of `iiwa_hw` that was fixed in 44ca0f55b180817093e7c1ad944644d8606aadf4 I had set `publishJointStates` to `true`. However the messages on `/iiwa/joint_states` do not contain velocity information....

So, after my first tests: - iiwa_stack runs fine with Sunrise 1.16 :smiley: (however I still have the good old JVM Port already in use error when restarting the app)...

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...

Hi @MaMarcelloChiurazzi, have a look at the `iiwa_stack` packages for MoveIt! integration. They offer the functionality you are looking for.

Hi Ellis, that behavior is indeed not intended. Guess I just never ran into an occasion where I had to stop the robot mid-trajectory. The spline trajectory is executed as...

From my experience: - If you have a ROS controller for the trajectory (e.g. you execute a motion via MoveIt!) the path looks rather bad; especially for Cartesian motions -...

Not sure what you are trying to archive, but the `robot_description` parameter is indeed remapped to `/iiwa/robot_description` when you're using the default iiwa_stack launch files.