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Fix stuck passive joints #237

Merged
merged 2 commits into from
Oct 4, 2023
Merged

Fix stuck passive joints #237

merged 2 commits into from
Oct 4, 2023

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huemerj
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@huemerj huemerj commented Oct 4, 2023

As mentioned in #235 and #219, a problem with passive joints was introduced by the following code line:

} else {
// Fallback case is a velocity command of zero
this->dataPtr->sim_joints_[j]->SetVelocity(0, 0.0);
}

As suggested by @destogl, I added a vector with flags which indicates if a joint is active (has command interfaces) or passive and subsequently sets the velocity to zero or not.

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@christophfroehlich christophfroehlich left a comment

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Thanks for the fix. I tested this with the pendulum from #172, it is working again!

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@ahcorde ahcorde left a comment

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Do you have any plans to port this to gz_ros_control? If you don't have time, I can do it

@ahcorde ahcorde merged commit 5dba0f9 into ros-controls:master Oct 4, 2023
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ahcorde commented Oct 4, 2023

https://github.com/Mergifyio backport humble

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mergify bot commented Oct 4, 2023

backport humble

✅ Backports have been created

mergify bot pushed a commit that referenced this pull request Oct 4, 2023
(cherry picked from commit 5dba0f9)
ahcorde pushed a commit that referenced this pull request Oct 4, 2023
(cherry picked from commit 5dba0f9)

Co-authored-by: Johannes Huemer <johannes.huemer@ait.ac.at>
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huemerj commented Oct 4, 2023

Do you have any plans to port this to gz_ros_control? If you don't have time, I can do it

I will have to set up / convert an example with passive joint for gz_sim, but I can do that.

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3 participants