Gazebo effort / position controllers

asked 2020-04-03 03:00:46 -0600

Abradanek gravatar image

updated 2021-10-26 09:31:17 -0600

lucasw gravatar image

Hi, Im working with panda model with arm and gripper in gazebo, when i set controllers for arm&gripper to

  • position_controllers/JointTrajectoryController

model moves fine but he can't grab any object to gripper - object slides from gripper (it's not effort setting).

  • effort_controllers/JointTrajectoryController

model moves ok (pid adjust), gripper can hold object and keep it, but there exist error GOAL_TOLERANCE_VIOLATED

When i set arm to

  • position_controllers/JointTrajectoryController

and gripper to

  • effort_controllers/JointTrajectoryController

my model behaviour is the same as in first case where model has position controller for all links - i can't grab anything with gipper.

How to set controllers to be able to grab objects and avoid setting pids for effort controllers. I don't want also use plugin for grasping.

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Comments

Same problem here. But I currently do not have a solution. Maybe try plugin later.

waltergun gravatar image waltergun  ( 2022-01-26 03:16:14 -0600 )edit

same problem. this is so stupid

Warmandd gravatar image Warmandd  ( 2022-07-07 04:11:11 -0600 )edit

for me it's working fine with velocity controls. I hope it might also help you

Warmandd gravatar image Warmandd  ( 2022-07-07 05:14:32 -0600 )edit