Effort controllers failing when using PID class

CentroEPiaggio / kuka-lwr

Software related to the KUKA LWR 4+: for real and for simulation.

The Unlicense

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Effort controllers failing when using PID class #55

Closed manuelbonilla closed 7 years ago

manuelbonilla commented 8 years ago

Hi Guys, I'm trying to use the one_task_inverse_dynamics_JL controller. It was crashing always when updating. I saw that it is because it is using KinematicChainControllerBase instead of PIDKinematicChainControllerBase. I suppose it is the same for all controllers generating torque commands or at least the ones using PID interfaces. am I wrong?

carlosjoserg commented 8 years ago

Could be, after several HWiface updates, I haven't tested how all controllers behave, only a couple of them.

Did you catch the line in which it is crashing? Are you trying in simulation or in the real robot?

carlosjoserg commented 7 years ago

I believe this was solved with 07c297b6c5c371d8f048f9ce440ca4c47f33c722