[Bug]: Joystick control & inverse kinematics issues with custom WidowXL arm

[iordanidhsiord]

What happened?

Hi team,

We’re using a custom WidowXL arm, and the only hardware change we’ve made is that we replaced the last two motors with two XL430-W250 so we can use protocol 2. Other than that, everything else remains the same. The arm is running on a Jetson xavier ubuntu 18.04 platform. While our files seem to be properly set up and MoveIt runs perfectly fine, we’re encountering some issues:

When we try to control the arm with a joystick, the movements are often erratic or unexplained.

In addition, we’re unable to run the inverse kinematics.

We’re looking for guidance on what might be causing these problems and how to fix them.

Thanks in advance for your help!

Robot Model

Custom Widowxl arm

Operating System

Ubuntu 18.04

ROS Distro

ROS 1 Melodic

Steps To Reproduce

No response

Relevant log output

Additional Info

No response