JointGroupPositionController initializes position at zeros

Hi, I have written a custom Hardware Interface for the Allegro Hand. Whenever I initialize it using a FollowJointTrajectory controller it keeps the original position. But whenever I initialize it using a JointGroupPositionController it moves all of the joints to zero, which is something I do not desire and think might be dangerous to move without the user wanting it to.

Is there a way to initialize the position at the original position and wait for a command to move it?

Asked by arianwu on 2023-03-12 04:51:53 UTC

Comments

Please provide a link to exactly which JointGroupPositionController package you are using (there are many variants out there.)

Asked by Mike Scheutzow on 2023-03-13 17:07:26 UTC

I am using the following controller from ros_control link

Asked by arianwu on 2023-03-15 03:00:40 UTC

Answers

See https://answers.ros.org/question/211414/ros_control-a-proper-position-initialization-approach/

I had a similar issue with my custom Hardware interface using a velocity_controllers/JointTrajectoryController. Solution for me was to set my joint positions inside the init function of my hardware interface; otherwise it would default to 0.

Asked by Ivandagiant on 2023-07-10 15:55:51 UTC