Prismatic Joint not reaching its limit

asked 2020-09-29 07:13:25 -0600

Mat_ROS gravatar image


I have built a URDF for a simple xyz gantry robot, using a velocitycontrollers/JointPositionController in ROS Melodic.

The issue is when sending the robot to its prismatic joint limits, the z axis will stop short of the limit. The range is 0 to 0.812m, where it stops at roughly 0.76m.

I have tried altering the effort and velocity tags within the relevant joint tag as well as the PID gains, which have had no effect. The other two joints are capable of reaching their limits.

Could anyone with any idea about this issue point me in the right direction please.

My URDF and Controller Config file are located here, as well as a screenshot of the issue:

Thank you in advance.

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