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Joint head_nod should not be fixed #19
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Recently I also ran into this problem. Can I fix it by updating SDK or something? |
@7675t can you please describe your issue in a bit more detail? Baxter should work with moveit right out of the box. There are no encoders on the head nod joint, just limit switches. On top of that, no feedback is given to the rest of the system other than "nodding" or "not nodding" for this joint. It would seem to me a fixed joint is the best compromise here. |
Hi, thanks, Now I'm working on jog_control package, which aims to provide jog control for every manipulators. It subscribes /joint_states and calls Thank you, |
Unfortunately, as I mentioned above, a non-fixed head_nod joint does not make sense, as it cannot be controlled like any other joint, and we do not ever know where it is. This issue should likely be handled inside the jog_control panel itself. |
OK, no problem then. Thanks! |
I ran into this problem with a related issue in the latest changes to MoveIt. Although that is a separate issue, it seems like the URDF should be updated on Baxter to support its screen nodding just like it can in real life. I understand the screen nod doesn't have real encoders / full rotation, but we should still be able to see these changes in rviz and gazebo.
Note: I have made the joint non-fixed in my fork of the urdf and I notice the center of rotation is currently not in the correct location.
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