[ros-users] pr2_mechanism_model joints break possible???
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Stuart Glaser den
2010-05-10 20:02
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Skribent:
Andreas Vogt
Dato:
2010-05-10 08:22
UTC
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ros-users
Emne:
[ros-users] pr2_mechanism_model joints break possible???
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