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Kinovarobotics / kinova-ros

ROS packages for Jaco2 and Mico robotic arms
BSD 3-Clause "New" or "Revised" License
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Robot collapsing upon start in Gazebo #424

Closed rsaif22 closed 1 year ago

rsaif22 commented 1 year ago

Using the j2n6s300 robot in gazebo with the default trajectory controller, the robot first collapses before stablizing and reaching its home position. I am mounting a passive end effector one the robot and thus need it to be stable at a certain starting configuration. Is there a fix to this issue?

rsaif22 commented 1 year ago

Fixed by setting the gravity to zero, upausing physics, waiting for the controllers then finally setting gravity back to the original value. This issue was caused because the controllers do not start before physics is unpaused