Hi,

I have built a URDF for a simple xyz gantry robot, using a velocitycontrollers/JointPositionController.

The issue is when sending the robot to its prismatic joint limits, the z axis will stop short of the limit. The range is 0 to 0.812m, where it stops at roughly 0.76m.

I have tried altering the effort and velocity tags within the relevant joint tag as well as the PID gains, which have had no effect. The other two joints are capable of reaching their limits.

Could anyone with any idea about this issue point me in the right direction please.

My URDF and Controller Config file are located here: https://github.com/MathewBlevin/ThesisProject

Here is a screenshot of the issue: C:\fakepath\Screenshot from 2020-09-29 20-00-15.png

Thank you in advance.