When I run my simulation, I get 'random' jerks of movement which do not repeat when I re-run the exact same simulation.
I am wondering if anyone knows where this 'stochastic' behavior could originate from and if anyone else are seeing something similar?
My system consists of a plugin, 3 NRP TF's and a Gazebo model, all communicating through topics or Gazebo API.
Initially my system relied on the generic_controller_plugin to publish JointStates, without using the plugin for anything else.
However, after spotting a lot of stochastic behavior with that setup, I included the JointState publisher in my own plugin and removed my dependency of the generic_controller_plugin. This helped to some degree, but I still get the occasional jerk, without any indicators of its origin.
Thanks in advance