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ros-controls / ros_controllers

Generic robotic controllers to accompany ros_control
http://wiki.ros.org/ros_control
BSD 3-Clause "New" or "Revised" License
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JointTrajectoryController: Joint velocity states become NaN #618

Open ajoardar007 opened 11 months ago

ajoardar007 commented 11 months ago

When providing a set of way-points separated by a given time-array (basically a trajectory-based set of way-points), after following about 40 to 100 way-points, the joint state velocities become NaN. I have documented this here, thinking that it was due to my inexperience, with a video demonstrating the same here.

This holds for both using topics and the action server.

The rosbag for the same can be found here.

bmagyar commented 11 months ago

I think you managed to kill the dynamic model inside Gazebo. The controller should not cause the robot to fall apart as it happens towards the end of the video.