Hi,
I am using Unitree GO2 EDU with steam deck and open manipulator.
To use the open manipulator I first start the driver with ros2 launch go2_manipulation openmanipulator.launch.py and then I start moving the joints as in the manual.
ROS_DOMAIN_ID=10 ros2 action send_goal \
/go2_unit_41097/open_manipulator/joint_trajectory_controller/follow_joint_trajectory \
control_msgs/action/FollowJointTrajectory -f '{
"trajectory": {
"joint_names": ["joint1","joint2","joint3","joint4"],
"points": [
{"positions":[ 0.10, 0.10, 0.10, 0.10], "time_from_start":{"sec":2}},
{"positions":[-0.10,-0.10,-0.10,-0.10], "time_from_start":{"sec":4}},
{"positions":[ 0.00, 0.00, 0.00, 0.00], "time_from_start":{"sec":6}}
]
}
}'
This movement is sometimes failed with part of the arm falling in front of the robot head. I purpose this is related to battery voltage and not enough voltage is given to the motors.
Another main problem is the gripper. When I use
ROS_DOMAIN_ID=10 ros2 action send_goal \
/go2_unit_41097/open_manipulator/\
gripper_controller/follow_joint_trajectory \
control_msgs/action/FollowJointTrajectory -f '{
"trajectory": {
"joint_names": ["gripper"],
"points":
{"positions":[-1.0], "time_from_start":{"sec":2}},
]
}
}'
to open the gripper.
It worked and should work. But this week, there is no respond on the gripper although in terminal it shows the movement goal was successful. What is much more weird, the gripper should be loose and can be adjusted by hand when the driver is not started. But for now, even when I stop the power supply, there is great brake feeling on the gripper motor. Maybe the motor is changed into a brake mode? The gripper only moves a little bit when I apply much more power on it. But I do not apply too much to avoid damage. Was there similar situation and do you know what is the cause and how to solve? Many thanks in advance!