fixed bug torque_controller #45
Open
Conversation
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| @@ -116,12 +116,16 @@ def spd_rad_to_raw(self, spd_rad): | |||
|
|
|||
| def set_torque_enable(self, torque_enable): | |||
| mcv = (self.motor_id, torque_enable) | |||
| self.dxl_io.set_multi_torque_enabled([mcv]) | |||
| self.dxl_io.set_multi_torque_enabled([mcv]) | |||
| @@ -166,5 +170,5 @@ def process_motor_states(self, state_list): | |||
| self.joint_state_pub.publish(self.joint_state) | |||
|
|
|||
| def process_command(self, msg): | |||
| self.set_speed(msg.data) | |||
| self.set_goal_torque(msg.data) | |||
There was a problem hiding this comment.
Looks like this is a feature, not a bug.
Step 4 of the torque mode tutorial clearly states To actually move the motor we need to publish a desired velocity to /pan_controller/command (the keyword being velocity).
Moreover this change breaks compatibility for existing users: it is probably safer to change the name of this controller from torque to velocity and add a new one that really controls the torque.
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
Torque controller was using the function set_speed, instead of set_goal_torque.