{"action":"closed","issue":{"url":"https://api.github.com/repos/ros-industrial/kuka_experimental/issues/129","repository_url":"https://api.github.com/repos/ros-industrial/kuka_experimental","labels_url":"https://api.github.com/repos/ros-industrial/kuka_experimental/issues/129/labels{/name}","comments_url":"https://api.github.com/repos/ros-industrial/kuka_experimental/issues/129/comments","events_url":"https://api.github.com/repos/ros-industrial/kuka_experimental/issues/129/events","html_url":"https://github.com/ros-industrial/kuka_experimental/issues/129","id":318358253,"number":129,"title":"kr5 effort limit? ","user":{"login":"CesMak","id":20240718,"avatar_url":"https://avatars0.githubusercontent.com/u/20240718?v=4","gravatar_id":"","url":"https://api.github.com/users/CesMak","html_url":"https://github.com/CesMak","followers_url":"https://api.github.com/users/CesMak/followers","following_url":"https://api.github.com/users/CesMak/following{/other_user}","gists_url":"https://api.github.com/users/CesMak/gists{/gist_id}","starred_url":"https://api.github.com/users/CesMak/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/CesMak/subscriptions","organizations_url":"https://api.github.com/users/CesMak/orgs","repos_url":"https://api.github.com/users/CesMak/repos","events_url":"https://api.github.com/users/CesMak/events{/privacy}","received_events_url":"https://api.github.com/users/CesMak/received_events","type":"User","site_admin":false},"labels":[],"state":"closed","locked":false,"assignee":null,"assignees":[],"milestone":null,"comments":4,"created_at":"2018-04-27T10:28:56Z","updated_at":"2018-05-03T10:42:21Z","closed_at":"2018-05-03T10:42:20Z","author_association":"NONE","body":"Hey there,\r\n\r\nI just loaded the kr5_arc robot description in gazebo and setup a ros_controller. Now if I just unpause the gazebo simulator the whole kr5 robot collapses instantly. That is why I set in the .urdf file the  limit effort instead of 0 to 10.\r\n\r\nI basically did that for all joints but actually I think that this is not correct .... \r\n\r\n```\r\n\r\n\r\n<joint name=\"${prefix}joint_a1\" type=\"revolute\">\r\n  <origin xyz=\"0 0 0.4\" rpy=\"${pi} 0 0\"/>\r\n  <parent link=\"${prefix}base_link\"/>\r\n  <child link=\"${prefix}link_1\"/>\r\n  <axis xyz=\"0 0 1\"/>\r\n  <limit effort=\"${joint_effort_limit_1}\" lower=\"${radians(-155)}\" upper=\"${radians(155)}\" velocity=\"${radians(154)}\"/>\r\n</joint>\r\n```\r\n\r\nMoreover I wonder how  to setup the p, i, d  values of the controller.\r\n\r\nCurrently I have:\r\n\r\n```\r\n\r\nmanipulator:\r\n  # Publish all joint states -----------------------------------\r\n  joint_state_controller:\r\n    type: joint_state_controller/JointStateController\r\n    publish_rate: 50  \r\n  \r\n  # Position Controllers ---------------------------------------\r\n  link_1_controller:\r\n    type: effort_controllers/JointPositionController\r\n    joint: joint_a1\r\n    pid: {p: 1000.00, i: 200.00, d: 200.00}\r\n\r\n  link_2_controller:\r\n    type: effort_controllers/JointPositionController\r\n    joint: joint_a2\r\n    pid: {p: 5000.00, i: 500.00, d: 500.00}\r\n\r\n  link_3_controller:\r\n    type: effort_controllers/JointPositionController\r\n    joint: joint_a3\r\n    pid: {p: 1000.00, i: 750.00, d: 50.00}\r\n\r\n  link_4_controller:\r\n    type: effort_controllers/JointPositionController\r\n    joint: joint_a4\r\n    pid: {p: 1000.00, i: 200.00, d: 200.00}\r\n\r\n  link_5_controller:\r\n    type: effort_controllers/JointPositionController\r\n    joint: joint_a5\r\n    pid: {p: 5000.00, i: 500.00, d: 500.00}\r\n\r\n  link_6_controller:\r\n    type: effort_controllers/JointPositionController\r\n    joint: joint_a6\r\n    pid: {p: 1000.00, i: 750.00, d: 50.00}\r\n```\r\n\r\nAny links or explanation how to set the **effort limits and the pid** value would be great! \r\n\r\n\r\nAdditional Code snippets:\r\n\r\n```\r\n\r\n<!-- ros_control plugin -->\r\n  <gazebo>\r\n    <plugin name=\"gazebo_ros_control\" filename=\"libgazebo_ros_control.so\">\r\n      <robotNamespace>/manipulator</robotNamespace>\r\n    </plugin>\r\n  </gazebo>\r\n\r\n<transmission name=\"tran6\">\r\n  <type>transmission_interface/SimpleTransmission</type>\r\n  <joint name=\"joint_a6\">\r\n    <hardwareInterface>EffortJointInterface</hardwareInterface>\r\n  </joint>\r\n  <actuator name=\"motor6\">\r\n    <hardwareInterface>EffortJointInterface</hardwareInterface>\r\n    <mechanicalReduction>1</mechanicalReduction>\r\n  </actuator>\r\n</transmission>\r\n\r\n<gazebo reference=\"link_1\">\r\n    <mu1>1</mu1>\r\n    <mu2>1</mu2>\r\n    <selfCollide>true</selfCollide>\r\n   <material>Gazebo/Grey</material>\r\n</gazebo>\r\n```"}}
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