Arm Control Not Working

[ericrosenbrown]

Hello, I'm currently having some issues with controlling the jaco arms on our movo.

When I run MoveIt, I am able to specificy poses for the arm to move to, and it will move there. However, when I launch the "movo_remote_teleop.launch" file, and I try to move the arms with the controller, they do not move. However, when I use the joystick to do things like move the base, it works. I am also clicking the buttons needed to control the left/right arm, and I can tell the pushes are getting registered, but nothing happens in terms of the arm moving.

I also tried to directly publish to the /movo/right_arm/cartesian_vel_cmd topic, but even when I do that, the arms do not move.

Does anyone know why this would be happening? I would be happy if I could get a solution that just allowed me to send velocity commands to the end effector position, regardless of whether it is using the joystick itself or a keyboard input or something.

Thanks!

[brandonjdehart]

Hi Eric,

When you are running the teleop launch file you need to "home" the arms before you will be able to control them. You can do this using the top right button on the base of the joystick (8, I believe?).

Be warned that the body and arms will move around while it is homing (sometimes moving to the home position multiple times during the homing process), so make sure there isn't anything near the front or top of the robot when you push the homing button.

Once the robot has homed its arms, then you should be able to control the arms using the joystick as desired.

Cheers,
Brandon