Steering the UR5 with rqt_joint_trajectory_controller
Hi,
I would like to steer the UR5 with the rqt_joint_trjaectory_controller in Gazebo. But when I move the joints in a way that they collide with the ground, then the whole robot starts shaking. And when I move the slider back, then its still shaking and not controllable anymore. I am using ros-melodic on Ubuntu 18.04. and the melodic-devel version of the universal_robots repository.
I'm assuming you're using Gazebo here? If so: please mention that.
Most people using a UR5 don't want to "move the joints in a way that they collide with the ground", as that would seriously damage their robot ..
Sorry, just updated.
It's likely you're using the Gazebo model with position hardware interfaces. Gazebo doesn't really like that.
Try switching to effort hardware interfaces (and load the corresponding controllers).
Driving your robot into the ground will still not be a nice thing to do, but it should behave a little better.
Finally: the title of your question is:
that doesn't seem to cover the subject of your question though, which appears to be about some very specific behaviour of your simulated robot if/when it touches another object while being simulated by Gazebo.