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INTERACT-tud-amr / dinova

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Velocity tracking in gazebo #2

Open maxspahn opened 2 months ago

maxspahn commented 2 months ago

Velocity tracking is poor for joint 2 in the simulation. As soon as the arm starts dropping a bit, a reference velocity can no longer be tracked.

TomasMerva commented 2 months ago

Yes, the velocity interface only works when the gravity in Gazebo is turned off. Don't know how to fix it.

TomasMerva commented 2 months ago

For now, the gravity is turned off by default for dinova and kinova with the commit: 930a34a0e2fbea1f23b552ed587599a8a702e8a1