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website: Add FAQ entry for checking that the arm has reached the target - #643
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The joint trajectory controllers don't check the goal tolerance in the default configuration of ROS 2 control, like the default of `joint_trajectory_controller`. A trajectory can succeed even if the arm stops short of the target because of the steady-state error. Add an FAQ entry that recommends checking the error at the end effector and explains that the goal tolerance (`constraints.<joint>.goal`) can be set for the task and gains. Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
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Preview: https://kou.github.io/openarm See https://github.com/enactic/openarm/blob/main/website/README.md#pull-request-and-preview how to configure preview on fork. |
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The joint trajectory controllers don't check the goal tolerance in the default configuration of ROS 2 control, like the default of
joint_trajectory_controller. A trajectory can succeed even if the arm stops short of the target because of the steady-state error.Add an FAQ entry that recommends checking the error at the end effector and explains that the goal tolerance (
constraints.<joint>.goal) can be set for the task and gains.