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RethinkRobotics / sawyer_simulator

Gazebo Simulation interface for the Sawyer Robot
http://sdk.rethinkrobotics.com/intera/Gazebo_Tutorial
Apache License 2.0
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Sawyer Joint Velocity Issues #47

Open peasant98 opened 4 years ago

peasant98 commented 4 years ago

When I run the sawer simulator in gazebo (I use ROS Melodic, but the issues also persists for ROS Kinetic), the joint velocity doesn't seem to work. The robot just sags down to the ground. Anyone had the issue, and how can it be fixed?

danem commented 4 years ago

I've been having the same issue.

peasant98 commented 4 years ago

Hi @danem , in case you were wondering, our solution to this issue was working with the Franka Panda robot's simulation. We have our own fork (at https://github.com/HIRO-group/panda_simulation) that we use for joint velocity control, and it has been serving us well.

danem commented 4 years ago

Thanks for the suggestion, but unfortunately I'm working with a physical sawyer robot, so ideally I will try to match my simulations with reality. As a temporary fix I bumped up the pid values for right_joint_position_controller found in sawyer_sim_controllers.yaml. This is a bit of a hack, but at least the robot is usable for the time being. I'll provide more information when I come up with something better.