Open christophfroehlich opened 9 months ago
I'm not sure how gazebo with gz_ros2_control behaves with passive joints. But one suggestion for gazebo_ros2_control would be to implement a high-gain feedback on the effort or velocity interface from position commands, similar to the position interface of gz_ros2_control
But I'm not certain if this will end up in a stable simulation.
As indicated with #172, passive joints not being part of a kinematic chain (a pendulum for example) do not work properly if anything except effort interface is used.