search

fzi-forschungszentrum-informatik / cartesian_controllers

A set of Cartesian controllers for the ROS1 and ROS2-control framework.
BSD 3-Clause "New" or "Revised" License
351 stars 100 forks source link

[Iron] [Cartesian Compliance Controller] High stiffness values will result in uncontrolled behaviour when using ros2 control mocked hardware #156

Open firesurfer opened 7 months ago

firesurfer commented 7 months ago

Problem description

Hi, we realized that when setting very high stiffness values (>5000) the cartesian compliance controller ouputs starts jumping around in the weirdest ways. We couldn't reproduce this behaviour on hardware yet. (And also didnt really push for it on real hardware)

Software versions

To Reproduce

Simply set very high stiffness values when using the mocked hardware interface -> No valid FTS feedback!

Expected behavior

With mocked hardware -> Controller behaves like a position controller With real hardware -> We often try to be compliant in only one direction

Additional context

With mocked hardware there is no valid Force Torque sensor feedback

stefanscherzinger commented 6 months ago

Thanks for reporting this! I'll need to reproduce this and check what happens.

Edit: @firesurfer if this is still relevant, could you post your corresponding controller parameters here? I might spot some unusual combination of parameters to get a starting idea for debugging.