Jack Liu

Just test the old version with commit id 489b355926daddb3d11c5553b997709d785defed, the ros control also doesn't work correctly because of the initial joint state incorrect from java side(the initial joint state is...

I will file a PR for this. But the smart servo interface has large delay (up to 300ms) when sending commands to the RTOS (Sunrise 1.11 with the latest iiwa...

SmartServo interface is not a real-time interface, so many delay behavior exists. And using SmartServo to control the robot in a real-time way is not possible. But the FRI interface...

@JimmyDaSilva I've studied this problem more deeply. The root cause of this problem is that there is a random delay in the SmartServo interface. I suggest you try the [epfl-lasa/iiwa_ros](https://github.com/epfl-lasa/iiwa_ros).

@JimmyDaSilva the FRI interface also support position control interface, see [here](https://github.com/epfl-lasa/iiwa_ros/blob/da160835051808665df779faca95cba03a6e27cc/iiwa_driver/java/FRIOverlay.java#L79). If you want to use the SmartServo mode, I think only a few hertz frequencies are allowed for real-time...

@JimmyDaSilva To get dynamic tracking performance should be easy with high stiffness parameters.

@921218316 you can consider this repo [epfl-lasa/iiwa_ros](https://github.com/epfl-lasa/iiwa_ros)

Same issue after terminating the previous ROSSmartServo instance. In remote windows 7, we get the following information about applications on SmartPAD ``` [MainThread [email protected]@ROSIiwaStack] ERR OR com.kuka.task.internal.TaskInstanceManagementThread - There is...

@SalvoVirga Is there any relationship with https://github.com/rosjava/rosjava_core/pull/291 ?

I set the load data(0.13 KG) for the tool in Sunrise workbench using the SmartHMI, but set the `tool_link_ee` same as the flange. I find that, before calibrating the load...