Robot doing random movements

[lucasrebra]

Hi dheera,

I'm trying to use your driver node on my project with the PCA9685 and a raspberry connected to it by i2c. The i2c works because I used it with the servokit library and works really fine. What is happening is that when your ros is running in the raspberry pi the robot start to make random movements that has not send and without sending any command. I don't know why is this working like that. I don't know if it's something important but I'm working with the roboti arm sainsmart 6dof.

I also tried to publish a command in the /command topic but when I do it it latched, in the /command is received but no motor is working. When I use the rqt_graph I get this image and I don't understand what is doing. Can you give me some feedback ? I send you also the rqt_graph

[odart]

What command are you using to pub to the topic? Did you update the I2C address?