Erratic behavior when current joint is above the joint limit

fzi-forschungszentrum-informatik / cartesian_controllers

A set of Cartesian controllers for the ROS1 and ROS2-control framework.

BSD 3-Clause "New" or "Revised" License

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Erratic behavior when current joint is above the joint limit #170

Open captain-yoshi opened 5 months ago

captain-yoshi commented 5 months ago

This happened on a real UR3.

When the ur3_wrist continuous joint is past the joint limit, the controller sends a position value of the joint limit. This leads to a high acceleration movement off the joint.

I think that the controller should check if the joints are within valid ranges at startup.

https://github.com/fzi-forschungszentrum-informatik/cartesian_controllers/assets/32679594/fa524b51-2915-4759-85a2-f148256421ba

stefanscherzinger commented 2 months ago

@captain-yoshi Thanks for reporting this! That's in fact an issue. I need to think of a mechanism to handle the infinite feature for some robot joints.