ur3 keeps moving when using my_cartesian_compliance_controller

[jsbyysheng]

I used this config in my real world ur3 robot:

my_cartesian_compliance_controller:
    type: "position_controllers/CartesianComplianceController"
    end_effector_link: "tool_holder_link"    # All links below must come before this link
    robot_base_link: "base_link"
    ft_sensor_ref_link: "ft_sensor_link"
    compliance_ref_link: "tool_holder_link"
    target_frame_topic: "target_frame"
    joints: *robot_joints
    solver:
        error_scale: 50
        iterations: 50
    pd_gains:
        trans_x: {p: 10.0}
        trans_y: {p: 10.0}
        trans_z: {p: 10.0}
        rot_x: {p: 1.0}
        rot_y: {p: 1.0}
        rot_z: {p: 1.0}

When I publish the msg as below, it was very strange that the robot kept moving to a very strange style with very high speed. (stiffness: 1000, 1000, 1000, 50, 50, 50)

$ rostopic pub -1 /my_cartesian_compliance_controller/target_wrench geometry_msgs/WrenchStamped "header:
  seq: 0
  stamp:
    secs: 0
    nsecs: 0
  frame_id: ''
wrench:
  force:
    x: 0.1            
    y: 0.0            
    z: 0.0          
  torque:
    x: 0.0              
    y: 0.0             
    z: 0.0" 

[stefanscherzinger]

Hi @jsbyysheng

I'm keeping up with old issues. Is this still relevant for you?

[jsbyysheng]

Thanks for your reply. I will test this problem again next few days.

[stefanscherzinger]

Could be related to #32

[stefanscherzinger]

@jsbyysheng

Feel free to reopen if this is still an issue.