Can't lower the controller manager update rate

[ros-controls]

Can't lower the controller manager update rate

[arjun-kg]

I'm trying to use gazebo control for universal robots, 1KHz (controller_manager update rate) does seem too much for the robot to handle (the joints slowly break apart), while at 100Hz or so, I observe the trembling you describe. The fix you describe updates positions at the rate of Gazebo's simulation period (0.001s or 1KHz), which is again, the original scenario where the joints break apart. I'm not sure why this is happening

[v-lopez]

@ahcorde Can we get someone to look into this? It's preventing us from releasing robots to foxy/galactic due to the trembling.

We can provide a PR with the changes above if you determine it's the correct approach.

[ahcorde]

@v-lopez yes please, go ahead and create the PR.

[v-lopez]

I'm trying to use gazebo control for universal robots, 1KHz (controller_manager update rate) does seem too much for the robot to handle (the joints slowly break apart), while at 100Hz or so, I observe the trembling you describe. The fix you describe updates positions at the rate of Gazebo's simulation period (0.001s or 1KHz), which is again, the original scenario where the joints break apart. I'm not sure why this is happening

@arjun-kg Did you find the cause? Are you sending different commands on each write?