pr2_controller_interface::JointVelocityController Class Reference

Joint Velocity Controller. More...

#include <joint_velocity_controller.h>

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Detailed Description

Joint Velocity Controller.

Author:

Stuart Glaser This controller controls velocity using a pid loop.

ROS interface

Parameters:

	type	Must be "JointVelocityController"
	joint	Name of the joint to control.
	pid	Contains the gains for the PID loop around velocity. See: control_toolbox::Pid

Subscribes to:

• command (std_msgs::Float64) : The joint velocity to achieve

Publishes:

• state (robot_mechanism_controllers::JointControllerState) : Current state of the controller, including pid error and gains.

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

• joint_velocity_controller.h