Ask Your Question
0

JointTrajectoryAction position vs /joint_state positions

asked 2012-12-23 05:57:14 -0500

vhwanger gravatar image

I'm trying to replay a saved trajectory by using the joint_states positions and JointTrajectoryAction. However, for some of the joints (upper arm roll), the /joint_state accumulates all the movement, so its position is some arbitrarily large number (let's say 600). However, JointTrajectoryAction seems to work on a different frame, because if I issue a goal to position 600, it ends up spinning indefinitely despite the /joint_state claiming it's very close to 600. How do the joint_positions differ?

edit retag flag offensive close merge delete

1 Answer

Sort by ยป oldest newest most voted
0

answered 2012-12-24 05:41:33 -0500

vhwanger gravatar image

Turns out that the JointTrajectoryAction automatically normalizes the given input between -pi and pi. Normalizing 600 to something between -pi and pi fixed this problem.

edit flag offensive delete link more

Your Answer

Please start posting anonymously - your entry will be published after you log in or create a new account.

Add Answer

Question Tools

Stats

Asked: 2012-12-23 05:57:14 -0500

Seen: 80 times

Last updated: Dec 24 '12