Class JointGroupEffortController

• Defined in File joint_group_effort_controller.hpp

Inheritance Relationships

Base Type

• public forward_command_controller::ForwardCommandController

Class Documentation

class JointGroupEffortController : public forward_command_controller::ForwardCommandController

Forward command controller for a set of effort controlled joints (linear or angular).

This class forwards the commanded efforts down to a set of joints.

Subscribes to:

• command (std_msgs::msg::Float64MultiArray) : The effort commands to apply.

Param joints:

Names of the joints to control.

Public Functions

EFFORT_CONTROLLERS_PUBLIC JointGroupEffortController()

EFFORT_CONTROLLERS_PUBLIC controller_interface::CallbackReturn on_init () override

EFFORT_CONTROLLERS_PUBLIC controller_interface::CallbackReturn on_deactivate (const rclcpp_lifecycle::State &previous_state) override