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Dear all,

I need to simulate a velocity control of a UR5 robot in Gazebo + ROS. But current packages of UR only has a joint trajectory controller, But I want to control individual joint velocities over time. How can I do this using existing controller ? or If I create joint position controllers how can I find pid gains that will do the simulation correctly ?

Are any other robot manipulator model with tuned position controllers for Gazebo simulation ?

Your help is really appreciated.

Thanks.


Originally posted by dinesh_sl on ROS Answers with karma: 13 on 2016-01-30

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The modern drivers implement a velocity controller: https://github.com/ThomasTimm/ur_modern_driver


Originally posted by claudio with karma: 16 on 2016-05-01

This answer was ACCEPTED on the original site

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