Gazebo model of the panda robot not responding to velocity inputs

frankaemika / franka_ros

ROS integration for Franka research robots

https://frankaemika.github.io

Apache License 2.0

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Gazebo model of the panda robot not responding to velocity inputs #304

Closed sabeaussan closed 1 year ago

sabeaussan commented 1 year ago

When using a simple JointGroupVelocityController with gazebo, the robot does not respond to command but start slowly drifting from original position even when commands is set to zero. After checking the controller, commands are received and set in the "update" function but ignored by the model. However, things behave as expected with real hardware so not sure if the problem could come from the ros_control_gazebo plugin or the franka_hw_sim. Note that JointGroupPositionController works well.

JohannesPankert commented 1 year ago

There is a bug in the gazebo plugin. This PR fixes it: https://github.com/frankaemika/franka_ros/pull/306

sabeaussan commented 1 year ago

Great ! Thank you. Closing this issue.