Sawyer Joint Velocity Issues

[peasant98]

When I run the sawer simulator in gazebo (I use ROS Melodic, but the issues also persists for ROS Kinetic), the joint velocity doesn't seem to work. The robot just sags down to the ground. Anyone had the issue, and how can it be fixed?

[danem]

I've been having the same issue.

[peasant98]

Hi @danem , in case you were wondering, our solution to this issue was working with the Franka Panda robot's simulation. We have our own fork (at https://github.com/HIRO-group/panda_simulation) that we use for joint velocity control, and it has been serving us well.

[danem]

Thanks for the suggestion, but unfortunately I'm working with a physical sawyer robot, so ideally I will try to match my simulations with reality. As a temporary fix I bumped up the pid values for right_joint_position_controller found in sawyer_sim_controllers.yaml. This is a bit of a hack, but at least the robot is usable for the time being. I'll provide more information when I come up with something better.