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Low-level differences between jointTrajectoryController and jointGroupPositionController

asked 2021-07-02 09:46:10 -0500

__zozan__ gravatar image

Hi everyone,

I'm having problem when running servoing of a robotic manipulator. I can't find adequate explanation which could explain my difficulties. When running robotic arm with MoveIt!, e.g. when I use jointTrajectoryController, arm executes motion perfectly (schunk lwa4p), which could imply that position commands sent to each joint arrive correctly. However, when I use jointGroupPositionController (which works in Gazebo), real arm moves only some joints and not all of them. I'm wondering how could I discover/figure out low-level differences between jointTrajectoryController and jointGroupPositionController?

Thank you for your time, Have a nice weekend.

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answered 2021-08-08 22:07:55 -0500

Pratik Somaiya gravatar image

This question has very informative answers:

Also, you can try using JointPositionController for each joint to verify that the joints are moving as expected.

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Asked: 2021-07-02 09:45:22 -0500

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Last updated: Aug 08 '21