Gravity compensation controller not working

[marcoesposito1988]

Hi guys,

I cannot get the gravity compensation controller to work any more, since the big refactoring.

I get a "FRI Speed limit" error.

I am on Kinetic / 16.04, since I do not manage to switch control mode on Indigo / 14.04 any more (separate bug report incoming).

Is it just me?

[graiola]

Hi @marcoesposito1988 , I am facing the same problem with ubuntu 16.04 and kinetic. Did you find a solution? Thanks.

[marcoesposito1988]

Hi @graiola,

kind of. I hacked it through because I needed it.

You can take a look at my gravity compensation branch.

However since we are getting rid in the robot in my lab, I am not going to spend much time trying to make a pull request out of it.

Ciao
Marco