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Hi! I've spawned a model on gazebo and using PID to control the joints. When I check the joint_state topic it shows that the joints oscillates by a very small error. The whole model vibrates on gazebo and rviz but the vibrations are smaller on rviz, I don't know if those vibrations are caused by the oscillations on the joints or something else.
Are you using high D terms? They can multiply the effect of noise introduced by small calculation errors. If that is the case, you need to tune your PID controllers again. Depending on your use case you might omit the D-terms (set to zero).
Asked: 2012-04-19 04:00:00 -0500
Seen: 2,315 times
Last updated: Apr 19 '12
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Have you tried setting all gains to zero/starting it without joint controllers? If it does not exhibit vibration then, it's a pretty safe bet that the controller was inducing them.
When I stop the controller it gets worse, it's like random positions are being enforced on each joint resulting in random movement of the arm. I would expect the arm to just lie down and do nothing.