[ros-users] pr2_mechanism_model joints break possible???

Stuart Glaser sglaser at willowgarage.com
Tue May 11 03:02:05 UTC 2010


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).


On Mon, May 10, 2010 at 8:22 AM, Andreas Vogt <andreas.vogt at 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

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