Comments (4)
I'm trying to use gazebo control for universal robots, 1KHz (controller_manager update rate) does seem too much for the robot to handle (the joints slowly break apart), while at 100Hz or so, I observe the trembling you describe. The fix you describe updates positions at the rate of Gazebo's simulation period (0.001s or 1KHz), which is again, the original scenario where the joints break apart. I'm not sure why this is happening
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@ahcorde Can we get someone to look into this? It's preventing us from releasing robots to foxy/galactic due to the trembling.
We can provide a PR with the changes above if you determine it's the correct approach.
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@v-lopez yes please, go ahead and create the PR.
from gazebo_ros2_control.
I'm trying to use gazebo control for universal robots, 1KHz (controller_manager update rate) does seem too much for the robot to handle (the joints slowly break apart), while at 100Hz or so, I observe the trembling you describe. The fix you describe updates positions at the rate of Gazebo's simulation period (0.001s or 1KHz), which is again, the original scenario where the joints break apart. I'm not sure why this is happening
@arjun-kg Did you find the cause? Are you sending different commands on each write?
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Related Issues (20)
- Passive joints are broken HOT 4
- Unexpected behavior when using passive joints in closed-loop kinematic chains HOT 2
- FT sensors possible bug HOT 1
- Kinematic chains with passive joints don't work with position interface HOT 1
- Could use remote gazebo possible? HOT 2
- Humble 4.4 update broke joints HOT 9
- Add noise and latency to the joints feedback HOT 1
- ERROR: "struct hardware_interface::HardwareInfo’} has no member named ‘hardware_plugin_name" HOT 5
- Robot still saggs if interfaces are not claimed
- Issue running example script in Harmonic
- Loading controller failed,Exception thrown during init stage with message: expected [string] got [string_array] HOT 7
- Errors after launching demos: controller manager issue? HOT 7
- How can solve this problem? HOT 3
- How to set the Effort while using JointGroupVelocityController in Gazebo HOT 3
- No rule to make target needed by 'libgazebo_ros2_control.so' HOT 2
- How do I handle this issue? HOT 2
- Parser Error Couldn't parse parameter override rule - loading tricycle_controller from ros2_control HOT 20
- Do mimic joints on gazebo_ros2_control work for grippers with one part interacting with the rest? (1 to 5 Gripper)
- Error in destruction of rcl subscription handle: Failed to delete datareader HOT 1
- missing header ignition/common/Profile.hh when installing from source HOT 1
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