In the DRCSim 2.0, I have noticed that when sending position commands (to say for example the
neck_ay joint), that the velocities reported by
/atlas/joint_states are much higher than the velocity_limits defined in the URDF.
Can we expect this to be fixed for the VRC, or should we continue to assume that we can see velocity and/or effort values that exceed the URDF limits?
Post score: 1
Comment by pbeeson on 2013-02-11:
I've noticed that because there is no limit checking going on, if you are tuning the PID controller, and choose a bad value for a PID gain, you can easily cause Gazebo to crash (presumably because the effort it commands is too high or low).