The initial state of the robot is not updated within Moveit using EffortJointTrajectoryController
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TomasMerva commented
Hi, I have set the effort_joint_trajectory_controller
with the official panda_moveit_config
and franka_ros
packages. When I test it with MotionPlanning Rviz plugin, the Start State
of the robot is updated only once right after launching the plugin and thereafter it is not. In other words, after moving the robot, the Start State
remains the same and it differs from tf
, which is correct and same as the physical robot. The problem is not happening when I am using position_joint_trajectory_controller
. I am guessing that I forgot to change the topic name somewhere, but cannot find anything. What can be the problem?
My panda_moveit_config/config/panda_controllers/:
controller_list:
- name: effort_joint_trajectory_controller
action_ns: follow_joint_trajectory
type: FollowJointTrajectory
joints:
- panda_joint1
- panda_joint2
- panda_joint3
- panda_joint4
- panda_joint5
- panda_joint6
- panda_joint7