Comments (1)
Hi @NAEE09,
The error you get is printed here :
kinova-ros/kinova_driver/src/kinova_comm.cpp
Lines 1389 to 1407 in 93f6682
Since you do not have a gripper, this API call will always fail, so you have to make sure this is never called in your driver.
The kinova_arm driver constantly ppublishes info about the arm, and I think this is were it fails.
This is the function in the driver that updates the topics of your ROS driver :
kinova-ros/kinova_driver/src/kinova_arm.cpp
Lines 759 to 765 in 93f6682
You need to remove the publishFingerPosition()
function (that uses getFingerPositions
) and you need to modify the publishJointAngles()
function also.
In publishJointAngles()
, remove every mention to fingers
:
kinova-ros/kinova_driver/src/kinova_arm.cpp
Lines 571 to 572 in 93f6682
kinova-ros/kinova_driver/src/kinova_arm.cpp
Lines 608 to 627 in 93f6682
If you remove all of this, your driver should be able to launch correctly.
For the kinovaComm::setCartesianPosition()
, can you share a brief sample of your code? I am not sure I fully understand what you are doing
Regards,
Felix
from kinova-ros.
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from kinova-ros.