JointCalibrationController does poorly when starting-up close to the calibration sensor (ros ticket #4359)

[ahendrix]

When the calibration controller starts very close to the calibration sensor, it begins to move the joint through the reference position, without fully tightening the belt.

This results in an inconsistent calibration, which Stu has noticed to be as large as 0.3 degrees on the head pan joint.

Two possibilities:

1. Calibrate once, then move to a known position, and then calibrate again
2. Make sure to move away from the calibration sensor for some period of time, before starting the actual calibration

trac data:

• Owner: sglaser
• Reporter: vpradeep
• Reported at: Thu May 20 16:53:09 2010
• URL: https://code.ros.org/trac/wg-ros-pkg/ticket/4359