{"action":"created","issue":{"url":"https://api.github.com/repos/ros-simulation/gazebo_ros_pkgs/issues/610","repository_url":"https://api.github.com/repos/ros-simulation/gazebo_ros_pkgs","labels_url":"https://api.github.com/repos/ros-simulation/gazebo_ros_pkgs/issues/610/labels{/name}","comments_url":"https://api.github.com/repos/ros-simulation/gazebo_ros_pkgs/issues/610/comments","events_url":"https://api.github.com/repos/ros-simulation/gazebo_ros_pkgs/issues/610/events","html_url":"https://github.com/ros-simulation/gazebo_ros_pkgs/issues/610","id":251034946,"number":610,"title":"ros-indigo-gazebo-ros-control : position error since update","user":{"login":"KevinKDufour","id":18685835,"avatar_url":"https://avatars0.githubusercontent.com/u/18685835?v=4","gravatar_id":"","url":"https://api.github.com/users/KevinKDufour","html_url":"https://github.com/KevinKDufour","followers_url":"https://api.github.com/users/KevinKDufour/followers","following_url":"https://api.github.com/users/KevinKDufour/following{/other_user}","gists_url":"https://api.github.com/users/KevinKDufour/gists{/gist_id}","starred_url":"https://api.github.com/users/KevinKDufour/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/KevinKDufour/subscriptions","organizations_url":"https://api.github.com/users/KevinKDufour/orgs","repos_url":"https://api.github.com/users/KevinKDufour/repos","events_url":"https://api.github.com/users/KevinKDufour/events{/privacy}","received_events_url":"https://api.github.com/users/KevinKDufour/received_events","type":"User","site_admin":false},"labels":[{"id":364091142,"url":"https://api.github.com/repos/ros-simulation/gazebo_ros_pkgs/labels/needs%20feedback","name":"needs feedback","color":"fef2c0","default":false}],"state":"open","locked":false,"assignee":null,"assignees":[],"milestone":null,"comments":3,"created_at":"2017-08-17T18:40:23Z","updated_at":"2017-09-11T15:34:01Z","closed_at":null,"author_association":"NONE","body":"Hello,\r\n\r\nSince the august update of the ros-indigo-gazebo-ros-control package (2.4.15), I noticed some position errors and large oscillations in Gazebo with the Baxter Robot that weren't here before.\r\n\r\nThe simplest way I found to reproduce the problem is the following:\r\n\r\nWith the right arm, from the joint position [0,0,0,0,0,0,0] I sent the command \r\n`rostopic pub /robot/limb/right/joint_command baxter_core_msgs/JointCommand \"{mode: 1, command: [-0.690766,-0.817243,-0.337815,0.699642,0.600842,1.13207,-0.670463], names: ['right_s0', 'right_s1', 'right_e0', 'right_e1', 'right_w0', 'right_w1', 'right_w2']}\" -r 100`\r\n\r\nThe expected pose is shown in the file attached \"ExpectedPose.png\".\r\n\r\nHowever, with the last ros-indigo-gazebo-ros-control version installed I get the wrong position. The video attached in \"UpdatedPackage.mp4.zip\" shows the oscillations and the wrong finale pose.\r\n\r\nTo solve this problem, I removed the ros-indigo-gazebo-ros-control package and installed the 2.4.13 version from source. After compilation and restarting Gazebo, I get the right pose, see the video attached in \"PreviousPackage.mp4.zip\".\r\n\r\nI don't know if the ros-indigo-gazebo-ros-control package is really the problem but downgrading it solved the issue.\r\n\r\n![expectedpose](https://user-images.githubusercontent.com/18685835/29427976-88b7d736-8359-11e7-85bd-c7ca55f37e96.png)\r\n\r\n[PreviousPackage.mp4.zip](https://github.com/ros-simulation/gazebo_ros_pkgs/files/1232270/PreviousPackage.mp4.zip)\r\n[UpdatedPackage.mp4.zip](https://github.com/ros-simulation/gazebo_ros_pkgs/files/1232269/UpdatedPackage.mp4.zip)\r\n\r\n\r\n\r\n"},"comment":{"url":"https://api.github.com/repos/ros-simulation/gazebo_ros_pkgs/issues/comments/328567567","html_url":"https://github.com/ros-simulation/gazebo_ros_pkgs/issues/610#issuecomment-328567567","issue_url":"https://api.github.com/repos/ros-simulation/gazebo_ros_pkgs/issues/610","id":328567567,"user":{"login":"KevinKDufour","id":18685835,"avatar_url":"https://avatars0.githubusercontent.com/u/18685835?v=4","gravatar_id":"","url":"https://api.github.com/users/KevinKDufour","html_url":"https://github.com/KevinKDufour","followers_url":"https://api.github.com/users/KevinKDufour/followers","following_url":"https://api.github.com/users/KevinKDufour/following{/other_user}","gists_url":"https://api.github.com/users/KevinKDufour/gists{/gist_id}","starred_url":"https://api.github.com/users/KevinKDufour/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/KevinKDufour/subscriptions","organizations_url":"https://api.github.com/users/KevinKDufour/orgs","repos_url":"https://api.github.com/users/KevinKDufour/repos","events_url":"https://api.github.com/users/KevinKDufour/events{/privacy}","received_events_url":"https://api.github.com/users/KevinKDufour/received_events","type":"User","site_admin":false},"created_at":"2017-09-11T15:34:01Z","updated_at":"2017-09-11T15:34:01Z","author_association":"NONE","body":"Hi, sorry for the delay of answer, I wasn't available lately.\r\n\r\nSo I did more tests today, and I was able to reproduce the issue with version 2.4.13 as well: when I reset my catkin ws and compile several times, sometimes it works correctly, sometimes not.\r\n\r\nI am only changing gazebo_ros_control and not gazebo_ros_pkgs. Indeed, to try other versions of gazebo_ros_pkgs, I would have to uninstall the current version installed via apt-get but I can't as apt-get wants to remove ros-indigo-desktop-full when I ask for removing gazebo_ros_pkgs.\r\n\r\nWould you have any suggestion of test I could do to identify the responsible package and/or version?\r\n\r\nThanks"}}
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