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that would be the position controller in ros_control calling SetPosition https://bitbucket.org/osrf/gazebo/src/cd526975bc8bdf3813e0600e3ece180870602471/gazebo/physics/ode/ODEJoint.cc?at=default&fileviewer=file-view-default#ODEJoint.cc-1200.

Use POSITION_PID instead of POSITION should help.

that would be the position controller in ros_control calling SetPosition https://bitbucket.org/osrf/gazebo/src/cd526975bc8bdf3813e0600e3ece180870602471/gazebo/physics/ode/ODEJoint.cc?at=default&fileviewer=file-view-default#ODEJoint.cc-1200.SetPosition

Use POSITION_PID instead of POSITION should help.