set joint positions while using position_controllers/JointTrajectoryController

asked 2020-01-23 11:10:10 -0500

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I have created a plugin to set joint positions based on the C++ API joint->SetPosition(). Although when I use a ROS controller type position_controllers/JointTrajectoryController I am no longer able to set the joint positions.

In particular I have noticed that the tyhe joint positions desired are set just for an istant an then the robot teleport the the previous joint position. I have even tried to stop and unload the controller but without any effect

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