forward/backward etc do not function specifically

[sardanian]

I am testing out the open manipulator in foxy 2 and when I move the arm forward/backward etc, it dips down, slowly reaching the bottom vs. keeping the same consistent height as I assume is intended. I seem to remember when using ROS melodic that it stayed at a consistent height.

Is this a flaw in foxy or is this a problem that has started to occur in my arm?

Additionally, if I wanted to debug/fix this issue, where in the code should I do this and is there any documentation to help me along the way?

I'd also love to change my toolhead to a different type of gripper that I am making and would love to understand what parts I should change

Thank you.