I have been trying to get the LWR KUKA robot to be controlled in Gazebo through ROS (simulation only at this stage).
I have been following this tutorial [gazebo_ros_control](http://gazebosim.org/tutorials?tut=ros_control) which achieves
the wanted effect with the rrbot. The controller in the tutorial is an effort_controllers/JointPositionController.
I have reproduced the same steps of the tutorial on my own KUKA model, but the results differ and I am unable to have
to robot maintain a specific joint configuration (I have also tried to change the pid gains, but with no success).
I have uploaded my [KUKA package](https://github.com/gpldecha/LWR_KUKA_ROS) on git.
I can move the robot with little difficulty in Rviz with Moveit but I have been running into difficulties with Gazebo control
for some time. I am not sure if I have to write my own control plugin for gazebo or what I should do. The documentation
on the web is at some times quite overwhelming.
Any help to get a position control working on my Gazebo + ROS KUKA model would be very welcome.
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