I’m working with UR5 right now. I’ve implemented the position controller and it works fine in Gazebo. When the velocity controller is used, it is difficult to maintain zero setpoint; therefore, the ur5 will fall down due the gravity. I’m wondering what is the right strategy to maintain fixed position in velocity controller? I’m using Gazebo 9 and melodic ros in ubuntu 18.04. The velocity controller I’m using is velocity_controllers/JointVelocityController. Please help.
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