I’m in the 2nd part of the quiz. I’ve already created my project_controller package, and I’ve created my custom controller. In my .yaml file, I assigned to the shoulder_lift_joint my custom controller (of type ur5_custom_controller/PositionController). When I launch my launch file, all the controllers are loaded correctly (It doesn’t shows any error message), but when I launch the launch file, the robot starts moving in a strange way, as it was colliding with something:
To move the robot to the desired position in the simulation, I’ve tried to modify the gain and setpoint values of the cpp file. But it doesn’t work. So I got stuck here and I don’t know how to proceed.
Any help would be appreciated