ee_cart_imped_action Documentation

ee_cart_imped_action

An action server and interface for the ee_cart_imped_control package. The EECartImped Controller should always be accessed through this action.

• Homepage: http://ros.org/wiki/ee_cart_imped_action

This is the action interface to the ee_cart_imped_control package. The controller executes trajectories for force/impedance control of a chain of joints. The action monitors the controller and aborts goals if they are not reachable or deviate too far from user-specified constraints. Therefore, interaction with the controller should always be done through the action. For a wrapper around the simple action client in Python, see the Python API.

codeapi

Classes:

• EECartImpedExecuter : the executer class that talks to the action server and the controller
• EECartImpedArm : a wrapper for an action client that simplifies specifying, starting, and stopping trajectories