Continuous Joints Rotation Problem (PR2, JointTrajectoryAction)
Hi all,
I have a couple of problems with using the Joint Spline Trajectory Controller on the PR2. I used the controller through the provided action interface and followed this tutorial: http://www.ros.org/wiki/pr2_controllers/Tutorials/Moving%20the%20arm%20using%20the%20Joint%20Trajectory%20Action
Here are my questions:
For the continuous joints, in a few cases, the joint rotates towards the direction of the larger angle instead of the smaller one. The angles I am sending to the controller are normalized. How can I make sure I am rotating about the smaller angle?
The state publisher does not seem to normalize the angle of the continuous joints. Is that the correct behavior?
Best, Juergen
For #1, does this happen for the first point in your trajectory, or only for intermediate points?
It happens for intermediate points. I think that I can recall a case where it also happend for the first one but I am not sure. I did not look out for that at the time.