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Thanks for your answer. I should've been more specific. I'm using a different URDF for my robot, which has revolute joint types instead of continuous. While investigating following your answer, I found out the controller was working fine if my joint was continuous. Turns out the problem was with the revolute type joint limits that were set to <limit lower="-3.1416" upper="3.1416"> which creates an overlap in the acceptable angle range e.g. setting the limits to <limit lower="-3.1416" upper="3.1415"> works fine. Not sure where this issue is in the code, but it's bound to happen regularly, as joint limits are often (+/- pi).

Thanks for your answer. I should've been more specific. I'm using a different URDF for my robot, which has revolute joint types instead of continuous. While investigating following your answer, I found out the controller was working fine if my joint was continuous. Turns out the problem was with the revolute type joint limits that were set to <limit lower="-3.1416" upper="3.1416"> which creates an overlap in the acceptable angle range e.g. setting the limits to <limit lower="-3.1416" upper="3.1415"> works fine. Not sure where this issue is in the code, but it's bound to happen regularly, as joint limits are often (+/- pi).