pr2_controller_interface::JointPositionController Class Reference
Joint Position Controller.
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#include <joint_position_controller.h>
Detailed Description
Joint Position Controller.
This class controls positon using a pid loop.
- Parameters:
-
| type | Must be "JointPositionController" |
| joint | Name of the joint to control. |
| pid | Contains the gains for the PID loop around position. See: control_toolbox::Pid |
Subscribes to:
- command (std_msgs::Float64) : The joint position to achieve.
Publishes:
- state (robot_mechanism_controllers::JointControllerState) : Current state of the controller, including pid error and gains.
The documentation for this class was generated from the following file:
