We need to look at the source code of JointTrajectoryController and JointVelocityController to verify that these controllers properly handle joint wrapping. On a continuous joint, the PID error term should always point the "short way around" the great circle.
This may related to the strange behavior that @mklingen reported when executing trajectories on ADA.
We need to look at the source code of
JointTrajectoryControllerandJointVelocityControllerto verify that these controllers properly handle joint wrapping. On a continuous joint, the PID error term should always point the "short way around" the great circle.This may related to the strange behavior that @mklingen reported when executing trajectories on ADA.