Real UR5e robotic arm

[ljc0815]

Real UR5e robotic arm

[MingshanHe]

First, You need to use the launch file in the Universal Robot ROS Driver to create the communication between the PC and UR5e, Because this official driver is based on ros_control then you can upload my cartesian velocity controller to ros_control framework. Then you need to run the admittance launch file.

[ljc0815]

Glad to hear from you, I will
has been changed to the cartesian_velocity_controller_sim/ee_state you set after starting UR5e, but it still shows after running:
[ WARN] [1688530492.488529841, 22.252000000]: Waiting for the state of the arm...
[ WARN] [1688530492.510824086, 22.264000000]: Waiting for TF from: base_link to: wrist_3_link
[ INFO] [1688530493.511614754, 23.111000000]: The Force/Torque sensor is ready to use.
[ INFO] [1688530493.512659195, 23.111000000]: Running the admittance control loop .................
[ WARN] [1688530493.512940423, 23.112000000]: Admittance generates high arm accelaration! norm: 1.32161

[zbj165]

Glad to hear from you, I will has been changed to the cartesian_velocity_controller_sim/ee_state you set after starting UR5e, but it still shows after running: [ WARN] [1688530492.488529841, 22.252000000]: Waiting for the state of the arm... [ WARN] [1688530492.510824086, 22.264000000]: Waiting for TF from: base_link to: wrist_3_link [ INFO] [1688530493.511614754, 23.111000000]: The Force/Torque sensor is ready to use. [ INFO] [1688530493.512659195, 23.111000000]: Running the admittance control loop ................. [ WARN] [1688530493.512940423, 23.112000000]: Admittance generates high arm accelaration! norm: 1.32161

Hello, have you solved this problem? I am trying to activate admittance control on the physical robotic arm, but all have failed. How should I activate it.