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How to handle references when switching to Position control mode #107

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diegoferigo opened this issue Dec 19, 2019 · 1 comment · Fixed by #158
Closed

How to handle references when switching to Position control mode #107

diegoferigo opened this issue Dec 19, 2019 · 1 comment · Fixed by #158
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@diegoferigo
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complexity::low component::ignition issue::resolution::fixed

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@diegoferigo
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As discussed in #104 (comment), switching the control mode of Gazebo's robots from any control mode to Position might create problems on real robots due to the missing initial reference.

We should discuss how to handle this case.
@diegoferigo diegoferigo mentioned this issue Dec 19, 2019
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@diegoferigo
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With the new ScenarI/O bindings, changing the control mode to Position automatically resets any reference that was previously set to the current joint position.

Users should remember that the previous position is discarded. There is a debug message that is displayed during runtime to make it clear.

@diegoferigo diegoferigo self-assigned this May 5, 2020
@diegoferigo diegoferigo linked a pull request May 5, 2020 that will close this issue
ScenarI/O: SCENe interfAces for Robot Input / Output - New Ignition Gazebo ECM APIs #158
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