daeunsong / iiwa_examples

iiwa examples provided by Ewha Glab

iiwa_examples

Tested on Ubuntu 18.04 with ROS Melodic.

iiwa examples provided by Ewha Glab. These examples depend on iiwa_stack.

Demo

Once the connection is established, run the scripts.

rosrun iiwa_examples move_spline_demo

If you wish to make use of MoveIt! to operate iiwa, you also need to run the followings.

roslaunch iiwa_moveit demo.launch 
rosrun iiwa_examples updown_moveit

iiwa_examples's Issues

Missing pid gains, robot shaking

Currently the simulation works fine with the warning.
I believe this is because we are using the Joint Position Controller, which has no effect with the pid gains parameters.

However, we are having a jiggling effect, which may be also realted to the above issue.

issue realted to missing pid gains

related issues: issue1, issue2
related threads: thread1, thread2

I have tried the suggestions, then the simulation result in robot collapsing. Maybe tuning the PID gains will help.

issue realted to robot shaking

realted thread: thread3

According to thread3, this can be caused by bad model parameters (joint constraints, damping, etc), bad physics parameters (large step size for example), bad controllers (high torque values for example), or combinations of the three.
I have tried changing the joint damping and joint friction parameters. But it did not work.