Using cartesian_force_controller with KHI robot

[5567655]

I want to use Cartesian Force Controller with this robot. How and where do I begin?

In rs007_bringup.launch I added the following lines:

  <!-- Load the default controllers -->
  <node name="controller_spawner" pkg="controller_manager"
        type="spawner" respawn="false"
        output="screen"
        args=" joint_state_controller cartesian_force_controller"/>

but I get the following error:

[ERROR][2022-06-17 07:04:32] [KhiRobotKrnxDriver] krnx_PrimeRtcCompData returned -0x100A                               
[ INFO][2022-06-17 07:04:32] [KhiRobotKrnxDriver] State 0: ACTIVE -> ERROR                                             
[ WARN][2022-06-17 07:04:32] JT1:0.508578,0.508578,0.000000,-0.032288,0.540866,0.540866                                
[ WARN][2022-06-17 07:04:32] JT1:29.139362,29.139362,0.000000,-1.849995,30.989357,30.989356                            
[ WARN][2022-06-17 07:04:32] JT2:0.475345,0.475345,0.000000,-0.027059,0.502404,0.502398                                
[ WARN][2022-06-17 07:04:32] JT2:27.235285,27.235285,0.000000,-1.550359,28.785644,28.785278                            
[ WARN][2022-06-17 07:04:32] JT3:-1.850895,-1.850895,0.000000,0.035795,-1.886689,-1.886667               
[ WARN][2022-06-17 07:04:32] JT3:-106.048461,-106.048461,0.000000,2.050880,-108.099341,-108.098068                                                                                                                 
[ WARN][2022-06-17 07:04:32] JT4:0.000000,0.000000,0.000000,0.036954,-0.036954,-0.036954                 
[ WARN][2022-06-17 07:04:32] JT4:0.000000,0.000000,0.000000,2.117285,-2.117285,-2.117285                 
[ WARN][2022-06-17 07:04:32] JT5:-0.672244,-0.672244,0.000000,0.047996,-0.720240,-0.720240               
[ WARN][2022-06-17 07:04:32] JT5:-38.516740,-38.516740,0.000000,2.749968,-41.266709,-41.266709                                                                                                                     
[ WARN][2022-06-17 07:04:32] JT6:-0.400161,-0.400161,0.000000,0.087266,-0.487427,-0.487427               
[ WARN][2022-06-17 07:04:32] JT6:-22.927535,-22.927535,0.000000,4.999974,-27.927508,-27.927508                                                                                                                     
[ERROR][2022-06-17 07:04:32] [KhiRobotKrnxDriver] [krnx_PrimeRtcCompData] ano:1 [jt]pos:vel:status [1]0.5409:-6.4577:4 [2]0.5024:-5.4118:4 [3]-1.8867:7.1589:4 [4]-0.0370:7.3907:4 [5]-0.7202:9.5992:4 [6]-0.4874:1
7.4532:4 

Any help would be appreciated

[matsui-hiro]

@5567655

[KhiRobotKrnxDriver] krnx_PrimeRtcCompData returned -0x100A.

0x100A is KRNX_E_COMPDATA.

[KhiRobotKrnxDriver] [krnx_PrimeRtcCompData] ano:1 [jt]pos:vel:status [1]0.5409:-6.4577:4 [2]0.5024:-5.4118:4 [3]-1.8867:7.1589:4 [4]-0.0370:7.3907:4 [5]-0.7202:9.5992:4 [6]-0.4874:1 7.4532:4

Status 4 indicates that the speed (diff) of the joint command exceeds the robot's limit. (about error)

I think that it was exceeded in the interpolation process.
So please reduce the max_velocity of rs007l_joint_limits.yaml.