gazebo publishing oscillating effort values for for a prismatic joint

asked 2020-03-11 11:30:59 -0500

ajal gravatar image

I'm having a robot urdf having a lifting mehanism with a prismatic joint with the base link. I have setup controller of type: effort_controllers/JointPositionController at this joint.

the joint is:<joint name="lift_unit_joint" type="prismatic"> <parent link="base_link"/> <child link="lift_unit_base"/> <limit effort="2000" lower="-0.07" upper="0.00" velocity="0.02"/> <origin rpy="0 ${M_PI/2} 0" xyz="0 0 0"/> <!--<safety_controller k_velocity="10000" k_position="10000" soft_lower_limit="-0.06" soft_upper_limit="0.03" /> --> </joint>

After adjusting the pid values I'm able to reach the setpoint. The lift controller gives the command values which looks ok. but the joint_state is oscillating to 0. image description

This happens when there lifting unit has a load on top of it.

Note: I'm not using joint_state_publisher as it initially gave zero values in between for positions of the lifting unit joint.

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