Problem description
Previously, I only used Rviz to do the simulation and the controller works really well. But I want to implement the force controller and for the safety reason, I want to implement it in the simulation. I want to add some objects as well as the ft sensor so I need gazebo. My problem is when I launch the robot it vibrates a lot. I don't know the reason.
I am not sure if it's the urdf problem. But when I try to control the robot using the joint controller. It won't vibrate and can be controlled.But the problem is when starting the gazebo simulation the robot will jump at the first.
Problem description Previously, I only used Rviz to do the simulation and the controller works really well. But I want to implement the force controller and for the safety reason, I want to implement it in the simulation. I want to add some objects as well as the ft sensor so I need gazebo. My problem is when I launch the robot it vibrates a lot. I don't know the reason.
https://github.com/fzi-forschungszentrum-informatik/cartesian_controllers/assets/28621665/40f77c75-9b58-4203-b179-08ba88e75194
Software versions
git rev-parse HEAD
in thecartesian_controllers
repository?To Reproduce If possible, list the steps to reproduce the behavior. To reproduce the problem, the launch file is as following:
the fr10_controller.yaml file is as following:
I am not sure if it's the urdf problem. But when I try to control the robot using the joint controller. It won't vibrate and can be controlled.But the problem is when starting the gazebo simulation the robot will jump at the first.
https://github.com/fzi-forschungszentrum-informatik/cartesian_controllers/assets/28621665/de95ccb6-5540-49f7-9e7e-e1560bb4cc28 When I publish command to the controller(
rostopic pub /j1_controller/command std_msgs/Float64 "data: 2.0"
), the robot moveshttps://github.com/fzi-forschungszentrum-informatik/cartesian_controllers/assets/28621665/f99bab61-25ad-456c-9cf0-e5d301411cad
The launch file is :
j1_controller: type: position_controllers/JointPositionController joint: j1
j2_controller: type: position_controllers/JointPositionController joint: j2
j3_controller: type: position_controllers/JointPositionController joint: j3
j4_controller: type: position_controllers/JointPositionController joint: j4
j5_controller: type: position_controllers/JointPositionController joint: j5
j6_controller: type: position_controllers/JointPositionController joint: j6
joint_state_controller: type: "joint_state_controller/JointStateController" publish_rate: 50