Open firesurfer opened 1 week ago
scaled JTC is not directly maintained by ros2_control team, but @fmauch trys to keep it up to date afaik.
Maybe https://github.com/ros-controls/ros2_controllers/pull/877 is not included there, which could explain your behavior.
@christophfroehlich You are absolutely right. I thought the scaled JTC reuses most of the upstream JTC but this is not the case especially when it comes to the goal conditions. With the upstream JTC it works fine.
@fmauch Does it make sense to backport the mentioned fix ?
I'd rather suggest bringing https://github.com/ros-controls/ros2_controllers/pull/301 up-to-date and merging it ;)
Describe the bug
I have a setup as described in #1181 where I have a chained admittance controller with a JTC on top. For some reason the the JTC commands a jump in the joint positions at the end of the trajectory:
controller_state/output/positions:
Configuration:
Note: This is the scaled_jtc from the ur package.
To Reproduce
Have an admittance controller + jtc and have it drive a trajectory. There will be a jump at the end of the trajectory
Expected behavior
No jump
Environment (please complete the following information):