Cartesian twist controller. More...
#include <cartesian_twist_controller.h>
Cartesian twist controller.
Controls the twist at the end effector of a chain of the robot.
type | Must be "CartesianTwistController" |
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. |
fb_trans | The gains for the PID loop around linear velocity. See: control_toolbox::Pid |
fb_rot | The gains for the PID loop around angular velocity. See: control_toolbox::Pid |
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