Do you have working PID gains for the `effort_controllers/JointTrajectoryController` of a six-axis manipulator that I could use as a starting point for tuning the gains on a UR10? The `universal_robot` package uses the `PositionJointInterface` class for getting the joints to their desired positions but this mechanism causes unrealistic interactions between the manipulator and the Gazebo environment. For that reason I've changed the package locally to use the `EffortJointInterface` following [this example](https://github.com/ros-industrial/universal_robot/commit/6c4318a3c0024be31e919cdd30741456f4eaf778#comments). The author notes that the gains there are not working. Please share with me any advice on tuning a 6-R 'bot or working gains for a manipulator.
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