Use JointPositionReset for open loop door control #98
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Signed-off-by: Luca Della Vedova <luca@openrobotics.org>
Signed-off-by: Luca Della Vedova <luca@openrobotics.org>
Signed-off-by: Luca Della Vedova <luca@openrobotics.org>
Signed-off-by: Luca Della Vedova <luca@openrobotics.org>
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Signed-off-by: Luca Della Vedova <luca@openrobotics.org>
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* Use JointPositionReset for open loop door control (#98) Signed-off-by: Luca Della Vedova <luca@openrobotics.org> * Set all workflows to only use humble Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai> --------- Signed-off-by: Luca Della Vedova <luca@openrobotics.org> Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai>
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* Use JointPositionReset for open loop door control (#98) Signed-off-by: Luca Della Vedova <luca@openrobotics.org> * Update workflows to use iron Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai> * Bump action-ros-ci to v0.3 Signed-off-by: Yadunund <yadunund@openrobotics.org> * Update container in tsan Signed-off-by: Yadunund <yadunund@openrobotics.org> * Switch to setup-ros v0.6 Signed-off-by: Yadunund <yadunund@openrobotics.org> --------- Signed-off-by: Luca Della Vedova <luca@openrobotics.org> Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai> Signed-off-by: Yadunund <yadunund@openrobotics.org> Co-authored-by: Yadunund <yadunund@openrobotics.org>
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Bug fix
Fixed bug
There seems to be some issue with joint velocity commands not having any effect on doors, possibly because of limitations in effort limit or friction. This causes doors to sometimes not open / close as commanded.
Fix applied
This PR switches to open loop control, where instead of reading the current velocity to do closed loop velocity control, we assume that the last velocity we commanded was applied and do position control instead (setting at each step
pos = last_pos + desired_vel * dt).This makes the joint position always exact and not affected by physics parameters such as effort limit or friction.