mhubii

no worries, maybe you'll have to parse this file https://github.com/lbr-stack/lbr_fri_ros2_stack/blob/humble/lbr_moveit_config/iiwa7_moveit_config/config/kinematics.yaml Try ```shell ros2 run lbr_moveit lbr_moveit --ros-args \ -r __ns:=/lbr \ --params-file `ros2 pkg prefix iiwa7_moveit_config`/share/iiwa7_moveit_config/config/kinematics.yaml ``` Note you can...

arg you are right, how annoying. This file is from MoveIt and not configured to be used as parameters file. You'd have to add your node name, however, this isn't...

Putting this for reference: https://github.com/moveit/moveit2_tutorials/blob/20be39797b17e460fda48975a0a8ee25f8ad87ac/doc/examples/moveit_cpp/launch/moveit_cpp_tutorial.launch.py#L10C5-L10C18 (configs are parsed to the node via moveit config builder)

There is now a demo, you can pull the latest changes from the `humble` branch. You can find the doc here: https://lbr-stack.readthedocs.io/en/latest/lbr_fri_ros2_stack/lbr_demos/lbr_moveit_cpp/doc/lbr_moveit_cpp.html The difficulty is that the MoveGroup for this...

hi @shengyangzhuang , yes sorry, this is a little under construction

hi @shengyangzhuang this PR now lives on the `humble` branch. If you find time, please re-install drivers following https://github.com/lbr-stack/lbr_fri_ros2_stack#quick-start there was an issue with the previous version that can trigger...

hi @WZHwerk5 and thank you for the feedback. May I ask what procedure you followed?

is a connection established to the robot? What can you see on the smart pad?

okay, the issue is probably the QoS policy https://github.com/lbr-stack/lbr_fri_ros2_stack/blob/c3766c61047382a1b39dd9dacd7e163f4b5ff66b/lbr_demos/lbr_demos_fri_ros2_cpp/src/torque_sine_overlay_node.cpp#L25 May have gone out of date. I'll test and be back in half an hour

are you on the humble branch? so in `LBRWrenchSineOverlay.java` and `LBRTorqueSineOverlay.java` you'll find ```java friConfiguration.setSendPeriodMilliSec(5); ``` The `lbr_fri_ros2` package therefore creates pub/sub with 5 ms QoS deadline. To fix: 1....