Using my_cartesian_motion_controller in gazebo, the UR5 joints start to move when activate my_cartesian_motion_controller.

[caimingxue]

Hello, @fzi-admin. Using my_cartesian_motion_controller in gazebo, the UR5 starts to move when activate my_cartesian_motion_controller. However, I don't send any message. The pose of UR5 do not change. However, some joints are moving. Here is the video.

1223.mp4

[stefanscherzinger]

Hi @caimingxue

Thanks for the video. I can see the drift. Does this happen on the newest master branch? What's the output of git rev-parse HEAD in a sourced terminal for the cartesian_controllers?

[stefanscherzinger]

Please reopen if this is still an issue.