frankaemika / franka_ros

ROS integration for Franka research robots

https://frankaemika.github.io

Apache License 2.0

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fix gazebo velocity control #306

Closed JohannesPankert closed 1 year ago

JohannesPankert commented 1 year ago

The efforts computed by the velocity PID controllers were discarded before. Now they are applied to the joints just like with the position control PIDs.

JohannesPankert commented 1 year ago

304

Maverobot commented 1 year ago

Hi Johannes, thank you for your contribution! I allowed myself to modify the changelog and commit message in your commit.