Hi,

The PR2 does not have brakes on its joints.  The best way to keep the
joint stationary is to use a PID loop, keeping the desired position
constant (desired_pos_steer[0] in your case).

-Stu

On Mon, May 10, 2010 at 8:22 AM, Andreas Vogt <andreas.vogt@dfki.de> wrote:
> Hi,
>
> I control my position of the joints with a PID/force controller(see
> below). Is it possible to fix the position after the joint reached the
> goal position like a break would do?
>
>  pr2_mechanism_model::JointState* steer1_state;
>  steer1_state->commanded_effort_ = pos_pid_1.updatePid(
> current_pos_steer[0]- desired_pos_steer[0], dt);
>
> Andreas
>
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-- 
Stuart Glaser
sglaser -at- willowgarage -dot- com
www.willowgarage.com