Joint Position and Velocity controllers startup fix #404
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v4hn
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Nov 10, 2023
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v4hn
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I'm not sure whether the control_toolbox package should be resilient to such tiny dts (it only checks for 0.0), but at least this PR breaks PR2 initialization so I will close this PR.
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| double error = command_ - joint_state_->velocity_; | ||
| dt_ = time - last_time_; | ||
| dt_ = time - last_time_; //will be 0.0 if starting() was called on this iteration |
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This comment is actually wrong. dt_ will be an epsilon value because of the time that passed between starting and update. This leads to a HUGE i_error that can never be compensated later on.
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Melodic version of #376