[Gazebo] Add (but commented) the pid parameters for the position controller - #443
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NadiaHG wants to merge 1 commit into
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[Gazebo] Add (but commented) the pid parameters for the position controller#443NadiaHG wants to merge 1 commit into
NadiaHG wants to merge 1 commit into
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Related to: #386 |
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out-of-date and (kind of) superseded by: #525 I think it can be closed, at the end this status is not solving the issue neither for kinetic, the PR was open to have the issue with the PID for gazebo documented and with the hope that a gazebo update solved the problem. |
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Currently the Gazebo simulation, although everything is working perfectly, pops up the following erros/warnings:
The first error is fixed by this PR. Unfortunately set of the pid gains for the position controller just break the arm and the controllers are not working at all. I tried implementing an
EffortJointInterface(instead of position) but this is also not working.Although gazebo shows errors the controllers are working, then I suggest to keep the lines but commented. Probably are useful in the future.
(PID parameters taken from ur_moder_driver configuration e.g. https://github.com/ros-industrial/ur_modern_driver/blob/master/config/ur10_controllers.yaml#L76-L83 I tried also tunning them with the
dynamic_reconfigure, I didn't find a combination that works)