Errors from teleop.ros2_ik

[broehl]

I'm trying to control a custom robot using teleop.ros2_ik.

I'm running it as follows:

python -m teleop.ros2_ik --omit-current-pose \
  --joint-names L_link_1_joint L_link_2_joint L_link_3_joint L_link_4_joint L_link_5_joint L_link_6_joint L_link_7_joint \
  --ee-link L_connector_joint_ \
  --ros-args -r /joint_trajectory:=/my_joint_trajectory_controller/joint_trajectory

Jacobi_Robot_ROS throws the following error:

Error: operands could not be broadcast together with shapes (53,) (77,)
Traceback (most recent call last):
  File "/home/raven/Bernie/test.py", line 268, in main
    reached = robot.servo_to_pose(target_poses[pose_index], dt=0.03)
  File "/home/raven/Bernie/test.py", line 198, in servo_to_pose
    reached = super().servo_to_pose(target_pose, dt)
  File "/home/raven/Bernie/teleop/teleop/utils/jacobi_robot.py", line 299, in servo_to_pose
    joint_velocities = J_pinv @ desired_spatial_vel + joint_bias
ValueError: operands could not be broadcast together with shapes (53,) (77,)

Before I started digging deeply into the Jacobi_Robot code, is there anything obvious that I'm missing?

(I should mention that the robot has two arms, but I'm initially doing only one, so there are other joints between the root node of the robot and the first link in the arm).

[lukicdarkoo]

@broehl Unfortunately, no. I have just verified with Panda (from moveit_resources_panda_moveit_config), there were no issues.

You can share the URDF, and I may check if I get time.

[broehl]

Thanks, I appreciate the offer. I may take you up on that at some point, but for now I think I'll just figure out what the code is doing so I can find out what I'm doing wrong.