UR5 - Gazebo Joint Position controller
Dear all,
I need to simulate a velocity control of a UR5 robot in Gazebo + ROS. But current packages of UR only has a joint trajectory controller, But I want to control individual joint velocities over time. How can I do this using existing controller ? or If I create joint position controllers how can I find pid gains that will do the simulation correctly ?
Are any other robot manipulator model with tuned position controllers for Gazebo simulation ?
Your help is really appreciated.
Thanks.