ROS Resources: Documentation | Support | Discussion Forum | Index | Service Status | ros @ Robotics Stack Exchange
Ask Your Question

Revision history [back]

click to hide/show revision 1
initial version

There is no PID controller in between, canopen_motor_node just forwards the target commands.

BUT: the joint limits interface might adapt the command according to the limits, which does not work well in some cases. You could either remove the limits from URDF or set enforce_limits: False in your controller config (next to required_drive_mode)