Why does Effort Joint Interface cause the joints to collide
One of the hardware interfaces from controller_manager
package is EffortJointInterface, but when I define transmission with this hardware interface and run the simulation in Gazebo, the joint collide into the robot origin. However, if I set the mass of the links 100 times larger, the joints are connected in the right place, can be simulated and doesn't move from its place.
But I don't want my robot to weight 500 kg if in reality it wights 5 kg. Why does this occur and what can I do to fix this? Other hardware interfaces doesn't have this problem.