Gazebo | Ignition | Community
Ask Your Question

Revision history [back]

Hi,

This sounds like you have a Problem with the configuration of your pid-controller and/or mass and effort of your joints...

if you need physical correctness it might be hard to configure this... if you don't need you could try to use a position_controllers/JointTrajectoryController instead of the effort_controller which should move to the right positions and isn't that hard to configure...

which gazbeo version are you using? From version 1.9 upwards you can use ros_controll and gazebo_ros_pks and their simple-controller-manager for simple FollowJointTrajectory calls as long as no Joints have more that one DOF. (The simple-controller-manager is basically the same as the PR2-Controller but not that specific to a robot). It might also be a good Idea to take a look at the moveit! Project but you will need working JointTrajectoryController for that...