Jacobian behaviour differs in two controllers

asked 2019-06-12 23:57:49 -0600

Rik1234 gravatar image

I'm trying to implement visual servoing on a UR5 using a hand held kinect (IBVS, eye in hand). I recently migrated from the deprecated ur_modern_driver and started using the ros_control_version. However, the jacobian is behaving differently. It is working as it is supposed to in the old controller, but giving faulty response in the new ros_control one. I've checked the order of the joints, what could be a possible reason for this?

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