penglongxiang

Would you at least give us some data. Like the position command given to /xarm_straight_plan service, and the calibration result of this configuration?

it seems that you are giving the object orientation (same with robot base, with z pointing upwards) directly to be the TCP orientation (whose z should be pointing downwards). Please...

Refer to this answer: https://github.com/xArm-Developer/xarm_ros/issues/121#issuecomment-1236520849 You may still need to calculate the correct orientation with **Rotation matrix**. First transfer the object quaternion orientation to corresponding Rotation matrix **R**, which consists...

The root cause is just the incorrect TCP orientation. The obect and gripper orientations should not necessarily be the same, their coordinate axis could have opposite directions, just one more...

@eibow1012 Thank you for choosing xArm. Actually we do not recommend general user to call "move_servoj" service directly, this service is mainly used by xArm Hardware interface to send properly...

Hi, now you can specify argument `report_type:=dev` when launching the real-arm applications, to boost the feedback rate to 100Hz. Please note the joint velocity may not be very accurate with...

Hi @JuliusSustarevas , to answer all the questions, we need more information to confirm and reproduce these outputs. 1. what is the version of your controller firmware? 2. what was...

> Currently the `/joint_states` velocity information is just digital differentiation from the position report. Which may have spikes and oscillations especially at high frequency. We are trying to find a...

Hi @JuliusSustarevas , thanks for the detailed information. From the log I actually saw received velocity commands are constantly varying at 50Hz, however from your diagrams the commands are updated...

Hi @JuliusSustarevas , here are some updates about our reproduction of the issue. 1. Controller firmware version: v1.7.1, and xarm_ros is the latest commit. 2. load the single joint velocity...