[ros-users] Gazebo Controller
Andreas Vogt
andreas.vogt at dfki.de
Fri May 7 11:46:25 UTC 2010
Hi,
Can I control my joints only with forces/torques or is there any
possibility to control the position?
Why is there a PID Controller in the yaml available if I must implement
a kind of force controller in the update() method?
YAML:
my_controller_ns:
type: MyControllerPlugin
wheel1: joint_c-w1
pid:
p: 10.0
i: 0.0
d: 0.0
i_clamp: 1
void MyControllerClass::update(){
double desired_pos = init_pos_ + amplitude_ *
sin(ros::Time::now().toSec());
double current_pos = joint_state_->position_;
joint_state_->commanded_effort_ = -10 * (current_pos - desired_pos);
}
--
Andreas Vogt
Logistics and Production Robotics
DFKI Bremen
Robotics Innovation Center
Robert-Hooke-Straße 5
28359 Bremen, Germany
Phone: +49 (0)421 218-64140
Fax: +49 (0)421 218-64150
E-Mail: andreas.vogt at dfki.de
Weitere Informationen: http://www.dfki.de/robotik
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