issue with ros joint group effort controller

asked 2023-03-27 01:38:49 -0500

rcbot gravatar image

updated 2023-03-27 06:18:09 -0500

Hi everyone, I am trying to control 3 link mechanism using torque controller. I am using ros joint group effort controller to control the gazebo model. I am sending reference torques but my robot model is not executing the reference torques. I have no idea where is the issue. I really appreciate it if you can help me with the issue.

here is my ros_control.yaml file

joint_states_controller:
type: joint_state_controller/JointStateController
publish_rate: 50
joint_group_effort_controller:
type: effort_controllers/JointGroupEffortController
 joints:
 - Joint01_FR
 - Joint02_FR
  - Joint03_FR
  pid:
          Joint01_FR:
            p: 100.0
            i: 0.1
            d: 10.0
            i_clamp_max: 1.0
          Joint02_FR:
            p: 50.0
            i: 0.05
            d: 5.0
            i_clamp_max: 0.5
          Joint03_FR:
            p: 75.0
            i: 0.075
            d: 7.5
            i_clamp_max: 0.75
edit retag flag offensive close merge delete