Mrunal Sarvaiya
Mrunal Sarvaiya
Is there any documentation on what the variables being passed around in lqr_steer_control.py mean and a reference to the formulas used? I'm a little confused as to how the desired...
I'm running into issues when initializing a GPIO pin as input on a BeagleBone Black running Ubuntu 20.04 (https://forum.digikey.com/t/ubuntu-server-20-04/6649/25). Here is the python3 code ``` #! /usr/bin/env python3 import time...
For a XM540 in position controller mode, could I get an explanation of how the first feedforward term is calculated (Referring to the block diagram at 2.4.25 at https://emanual.robotis.com/docs/en/dxl/x/xl430-w250/)? Is...
Is there any documentation on the control loop rates used by the internal dynamixel software? I"m specifically interested to know what kind of rates are used during velocity control mode....
Hey all. So my robot setup is as follows - A manipulator with 4 joints (2 of these joints are controlled by the main computer(computer1) that runs roscore, whereas the...
We have a forked version of the joint_trajectory_controller that's modified to use the accelerations in the incoming joint trajectory. The desired trajectory looks fine (visualized via /state topic exposed by...
I'm running into a bug related to the bus watchdog in extended position control mode See the videos below https://www.youtube.com/watch?v=EP9iWDuh9Qg https://www.youtube.com/watch?v=lWFwSvKFAfM To summarize, if there is a non-zero homing offset...
I'm running the stack on the foxy-desktop docker image after launching snp_automate_2022 through `ros2 launch snp_automate_2022 start.launch.xml`, I went through the steps in the rviz plugin: 1. get detailed scan...
I have a dynamixel XL430-W250 and ran into issues compiling this package (branch: XL). Is this expected or is that branch tested with the appropriate dynamixels?