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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?


Originally posted by pbeeson on Gazebo Answers with karma: 86 on 2013-02-11

Post score: 1


Original comments

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).

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For effort limit, there is a pull request in gazebo.


Originally posted by hsu with karma: 1873 on 2013-02-14

This answer was ACCEPTED on the original site

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Original comments

Comment by pbeeson on 2013-02-14:
This pull request works so much better than before, as tuning PID gains on joints doesn't cause the robot to collapse or Gazebo to error due to high effort/velocity values. When can we get this into the Debian repository version so that all my VRC team can start tuning controllers?

Comment by hsu on 2013-02-14:
will create a new pr targeted at gazebo_1.4 for patch release.

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