Cartesian pose controller. More...
#include <cartesian_pose_controller.h>
Cartesian pose controller.
Controls the pose of the end effector of a chain of the robot.
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 |
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