Model will fly around and sometimes get stuck

[SkelonChan]

Import the
robot model XML file and add

<ros2_control name="MujocoSystem" type="system"> 
<hardware>
<plugin>mujoco_ros2_control/MujocoSystem</plugin>
</hardware>
</ros2_control> 

After the tag to the URDF file, even if no specific controller is loaded, the model will fly around and sometimes get stuck
ADD mujoco_ros2_control/MujocoSystem in URDF
https://github.com/user-attachments/assets/48de2e25-0a63-43fd-99e1-8f8b02ccfe08
If I remove the plugin, the model will be fine.

The model is the Unitree go2, this model is below, and i test my own robot model, the same scene occured
unitree_go_robot_model.zip

[sangteak601]

Hi, @SkelonChan thanks for reporting the issue.
There is an issue with position command interface.
Do you mind trying with position_pid and velocity_pid instead? You can find an example here.