How to control the robot in gazebo through joint position?
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Hello, can anyone tell me how to configure the robot so that I can control each joint position? Currently it seems that it only supports cartesian and joint effort conrtol. Thanks in advance!
@Yitian-Xian The real Panda robot supports position and velocity control through motion generators (see the franka_ros documentation). For the simulated robot, you have to merge the pull request you already found #181. The control behaviour using the motion generators on the real robot is similar to the explanation I gave in #181 (comment).
@rickstaa thanks for the quick answer! We haven't had the chance to integrate & test #181 to be release it officially, but since more and more people request this feature, it will climb in the priority list for sure.
Until then, @Yitian-Xian feel free to fork the repo and use the PR @rickstaa provided
Cool! Thank you for your support! I am able to use now!
@Yitian-Xian As of 2514ae1 there is no need to use my fork anymore. These motion generators are now merged into the develop branch.