joints are being sent to /robot_joint_commands that aren't requested
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I have a robot with one slow joint.
To deal with the following bug, I use a planning group that excludes the slowest axis.
The planner creates a plan that excludes the slowest axis and sends it to the trajectory controller. The TopicBasedSystem is sending a JointState with the slowest joint set to zero, even though it presumably receives no input about this joint from the trajectory controller.
This causes the slowest robot joint to jump to zero from it's previous non-zero position.
This problem does not happen with GenericSystem.
I looked at the source-code to TopicBasedSystem but couldn't figure out where it differed from GenericSystem as far as determining which joints to send out to /robot_joint_commands.
Hi @dsandber,
Would mind sharing a small reproducible example that I can use for debugging?
Closing due to inactivity, please feel free to re-open with an example