Ros2-CoppeliaSim and some bug.
Posted: 13 Mar 2024, 09:16
Hello.
I'm struggling to build a connection environment between Ros2 and CoppeliaSim.
To describe the current situation,
First, I have a randomly created rotating robot with 'dynamic mode' for the joints.
Also, the control mode is 'custom'.
Similarly, the other links have mass and inertia.
The revolute joint (subscriber) in coppeliaSim receives topic(angle) from the publisher, and we want the joint to adjust its rotation angle.
Like every second pi/10, pi/20, pi/30 ... (excel file content. row 1, row 2, row 3, ...) and so on.
So I made an external publisher (python) to send topic(angle) every second down 1 row of excel file contents.
I thought the revolute joint(subscriber) would then adjust the angle as it receives the topic, but I get an error where it adjusts and then repositions back to the original angle.
I'm attaching the script for the joint, as well as a video of the error.
https://1drv.ms/f/s!AuvU7BTQNjpWh_Vem8H ... w?e=vaajZM
What could be the problem?
Thank you.
I'm struggling to build a connection environment between Ros2 and CoppeliaSim.
To describe the current situation,
First, I have a randomly created rotating robot with 'dynamic mode' for the joints.
Also, the control mode is 'custom'.
Similarly, the other links have mass and inertia.
The revolute joint (subscriber) in coppeliaSim receives topic(angle) from the publisher, and we want the joint to adjust its rotation angle.
Like every second pi/10, pi/20, pi/30 ... (excel file content. row 1, row 2, row 3, ...) and so on.
So I made an external publisher (python) to send topic(angle) every second down 1 row of excel file contents.
I thought the revolute joint(subscriber) would then adjust the angle as it receives the topic, but I get an error where it adjusts and then repositions back to the original angle.
I'm attaching the script for the joint, as well as a video of the error.
https://1drv.ms/f/s!AuvU7BTQNjpWh_Vem8H ... w?e=vaajZM
What could be the problem?
Thank you.