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Many things can cause problems when interacting with controllers. Always check the PR2 dashboard first, every failure should print one or more error messages that give very useful information about the problem.

Understanding error messages

NaN Values in Joint States

If pr2_controller_manager ever calculates a NaN or Inf value for a joint state--position, velocity, effort, etc--then pr2_controller_manager will be unable to control the mechanism. A restart of pr2_controller_manager is the only way to revert this condition.

This condition usually means there is a serious hardware or software problem, and should be reported immediately.


2019-11-16 13:08