joint_states/effort goes to zero when published a torque using effort_controllers/JointGroupEffortController in Gazebo

[amjack0]

I am using effort_controllers/JointGroupEffortController wit ur5 arm in Gazebo. I set up my controller (interface etc) like this,

UR5 package Link

My controller yaml looks like this,

`arm_controller: type: effort_controllers/JointGroupEffortController joints:

• shoulder_pan_joint
• shoulder_lift_joint
• elbow_joint
• wrist_1_joint
• wrist_2_joint
• wrist_3_joint`

I run roslaunch ur_gazebo ur5.launch and I can see my controller topic /arm_controller/command So, When I publish rostopic pub a desired torque of lets say 60 Nm on effort_controllers/JointGroupEffortController. Then it would go to 60 Nm then goes to Zero and the to 60 Nm and again to zero.

I checked my ur5.urdf.xacro for friction, damping, safety controller and limits. Not sure what's wrong.

I plot joint_states/efforts to analyze this issue. This issue is seen for every joint. (In the plot, only shoulder_lift_joint is analyzed.) Plot of the joint state effort looks like this, rqt plot

ROS Melodic , 18.04 gazebo-9.0.0 Universal Robot (UR5) `https://github.com/ros-industrial/universal_robot/tree/melodic-devel

[bmagyar]

Please don't spam over multiple repos. Closing in favour of https://github.com/ros-controls/ros_controllers/issues/548