Controlling the UR10e via the effort command in the Gazebo environment
Hello. I'm trying to control a UR10e with the effort command in my Gazebo simulation. The effort value I am currently giving each joint is [0.0, -71.0770284, -23.0658876, 0.0, 0.0, 0.0]. This seems to be enough force to move the UR10e. However, on the Gazebo, the UR10e does not move at all, despite receiving the effort command correctly. Passing a very large effort value will cause the joint to move, but that doesn't seem right. Did I something wrong?
UR10e urdf is from the ur_e_description package, and transmission and gazebo_ros_control plugins have been added as follows.
<?xml version="1.0" encoding="utf-8"?>
<robot
name="ur10e">
<link name="world"/>
<joint name="world_to_ur10e" type="fixed">
<origin xyz="0 0 0" rpy="0 0 0"/>
<parent link="world"/>
<child link="base_link"/>
</joint>
<link name="base_link">
<visual>
<geometry>
<mesh filename="package://ur10e_description/meshes/ur10e/visual/base.dae"/>
</geometry>
<material name="LightGrey">
<color rgba="0.7 0.7 0.7 1.0"/>
</material>
</visual>
<collision>
<geometry>
<mesh filename="package://ur10e_description/meshes/ur10e/collision/base.stl"/>
</geometry>
</collision>
<inertial>
<mass value="4.0"/>
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
<inertia ixx="0.0061063308908" ixy="0.0" ixz="0.0" iyy="0.0061063308908" iyz="0.0" izz="0.01125"/>
</inertial>
</link>
<joint name="shoulder_pan_joint" type="revolute">
<parent link="base_link"/>
<child link="shoulder_link"/>
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.181"/>
<axis xyz="0 0 1"/>
<limit effort="330.0" lower="-6.283185307179586" upper="6.283185307179586" velocity="3.14"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<link name="shoulder_link">
<visual>
<geometry>
<mesh filename="package://ur10e_description/meshes/ur10e/visual/shoulder.dae"/>
</geometry>
<material name="LightGrey">
<color rgba="0.7 0.7 0.7 1.0"/>
</material>
</visual>
<collision>
<geometry>
<mesh filename="package://ur10e_description/meshes/ur10e/collision/shoulder.stl"/>
</geometry>
</collision>
<inertial>
<mass value="7.778"/>
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
<inertia ixx="0.03147431257693659" ixy="0.0" ixz="0.0" iyy="0.03147431257693659" iyz="0.0" izz="0.021875624999999996"/>
</inertial>
</link>
<joint name="shoulder_lift_joint" type="revolute">
<parent link="shoulder_link"/>
<child link="upper_arm_link"/>
<origin rpy="0.0 1.5707963267948966 0.0" xyz="0.0 0.176 0.0"/>
<axis xyz="0 1 0"/>
<limit effort="330.0" lower="-6.283185307179586" upper="6.283185307179586" velocity="3.14"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<link name="upper_arm_link">
<visual>
<geometry>
<mesh filename="package://ur10e_description/meshes/ur10e/visual/upperarm.dae"/>
</geometry>
<material name="LightGrey">
<color rgba="0.7 0.7 0.7 1.0"/>
</material>
</visual>
<collision>
<geometry>
<mesh filename="package ...