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awesomebytes / pepper_virtual

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Switch to velocity controllers to overcome bug from position controllers #5

Closed sleong1 closed 5 years ago

sleong1 commented 5 years ago

as found in https://github.com/ros-simulation/gazebo_ros_pkgs/issues/479

and reported by the warning

The default_robot_hw_sim plugin is using the Joint::SetPosition method without preserving the link velocity. As a result, gravity will not be simulated correctly for your model. Please set gazebo_pid parameters, switch to the VelocityJointInterface or EffortJointInterface, or upgrade to Gazebo 9.

awesomebytes commented 5 years ago

Such a wonderful commit message