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Atlas controller ignores limits from URDF.

asked 2013-02-11 14:16:25 -0500

pbeeson gravatar image

updated 2013-02-11 15:24:44 -0500

In the DRCSim 2.0, I have noticed that when sending position commands (to say for example the neck_ay joint), that the velocities reported by /atlas/joint_states are much higher than the velocity_limits defined in the URDF.

Can we expect this to be fixed for the VRC, or should we continue to assume that we can see velocity and/or effort values that exceed the URDF limits?

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I've noticed that because there is no limit checking going on, if you are tuning the PID controller, and choose a bad value for a PID gain, you can easily cause Gazebo to crash (presumably because the effort it commands is too high or low).

pbeeson gravatar imagepbeeson ( 2013-02-11 16:36:29 -0500 )edit

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answered 2013-02-14 09:53:02 -0500

hsu gravatar image

For effort limit, there is a pull request in gazebo.

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This pull request works so much better than before, as tuning PID gains on joints doesn't cause the robot to collapse or Gazebo to error due to high effort/velocity values. When can we get this into the Debian repository version so that all my VRC team can start tuning controllers?

pbeeson gravatar imagepbeeson ( 2013-02-14 10:56:15 -0500 )edit

will create a new pr targeted at gazebo_1.4 for patch release.

hsu gravatar imagehsu ( 2013-02-14 13:18:08 -0500 )edit
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Asked: 2013-02-11 14:16:25 -0500

Seen: 295 times

Last updated: Feb 14 '13