So creating a JointPositionController in ign-gazebo creates unusable controllers, as they use unlimited velocity if enough force is allowed (yes, if the joint was modeled super precisely, including all daping/internal friction etc., this artificial limit would not be needed, but being able to set this limit simplifies the creation of models a lot).
This did not show in any of ign-gazebo tests as none of them actually set the velocity limits and check them.
scpeters
commented
3 years ago
https://github.com/dartsim/dart/pull/1407
Without this PR, it seems that
<joint><axis><limit><velocity>is ignored, although the parsed data are passed to DART:https://github.com/ignitionrobotics/ign-physics/blob/56a04fe204afa77e6a16d84b27ec289823eb330a/dartsim/src/SDFFeatures.cc#L116-L134
So creating a JointPositionController in ign-gazebo creates unusable controllers, as they use unlimited velocity if enough force is allowed (yes, if the joint was modeled super precisely, including all daping/internal friction etc., this artificial limit would not be needed, but being able to set this limit simplifies the creation of models a lot).
This did not show in any of ign-gazebo tests as none of them actually set the velocity limits and check them.