pr2_controller_interface::CartesianPoseController Class Reference

Cartesian pose controller. More...

#include <cartesian_pose_controller.h>

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Detailed Description

Cartesian pose controller.

Author:

Wim Meeussen

Controls the pose of the end effector of a chain of the robot.

ROS

Parameters:

	type	Must be "CartesianPoseController"
	root_name	The name of the root link of the chain of links that you wish to control.
	tip_name	The name of the tip link (end effector) of the chain of links that you wish to control.
	output	The name of the CartesianWrenchController which will achieve the desired wrench computed by this controller.
	fb_trans	The gains for the PID loop around position. See: control_toolbox::Pid
	fb_rot	The gains for the PID loop around orientation. See: control_toolbox::Pid

Subscribes to:

• command (geometry_msgs::PoseStamped) : The desired pose to achieve. The controller will transform this into the root link (using tf), and then attempt to move the tip link to the transformed pose.

Publishes:

• state/error (geometry_msgs::Twist) : The error from the measured pose to the desired pose.

• state/pose (geometry_msgs::PoseStamped) : The current measured pose of the tip link.

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The documentation for this class was generated from the following file:

• cartesian_pose_controller.h