While attempting to control the Franka Gazebo simulation using the effort_controllers/JointEffortController, I encountered an error that presented as follows:
[/gazebo] [ERROR] [WallTime: 1693838750.059368142, 59.554000000]: Could not switch controllers. The hardware interface combination for the requested controllers is unfeasible.
I utilized the following controller configuration file:
Upon further investigation, I delved into the codebase and noticed that the FrankaHWSim expects all joints to be controlled jointly, as evident in this section of the code: FrankaHWSim Code.
Notably, there must be a clear warning or indication that FrankaHWSim expects all joints to be controlled collectively. To enhance the usability of the package, I propose two potential solutions:
[ ] Add an Example Configuration File: Including an example configuration file in the documentation or the repository (e.g., as part of issue #368) that demonstrates the correct way to control all joints jointly could assist users in avoiding this error.
[ ] Documentation Update: An alternative approach would be to update the documentation itself here to explicitly clarify this behaviour, explaining that all joints should be controlled as a group when using the effort_controllers/JointEffortController.
[ ] Add a warning: Another approach is to add a warning when the user tries individually controlling the panda effort joints.
These enhancements would help users navigate and utilize the Franka Gazebo simulation more effectively.
While attempting to control the Franka Gazebo simulation using the
effort_controllers/JointEffortController, I encountered an error that presented as follows:I utilized the following controller configuration file:
Upon further investigation, I delved into the codebase and noticed that the FrankaHWSim expects all joints to be controlled jointly, as evident in this section of the code: FrankaHWSim Code.
Notably, there must be a clear warning or indication that FrankaHWSim expects all joints to be controlled collectively. To enhance the usability of the package, I propose two potential solutions:
These enhancements would help users navigate and utilize the Franka Gazebo simulation more effectively.