pr2_controller_interface::Pr2GripperController Class Reference

Joint Position Controller. More...

#include <pr2_gripper_controller.h>

---

Detailed Description

Joint Position Controller.

This class controls positon using a pid loop.

ROS

Parameters:

type	Must be "Pr2GripperController"
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 (pr2_controllers_msgs::JointControllerState) : Current state of the controller, including pid error and gains.

---

The documentation for this class was generated from the following file:

• pr2_gripper_controller.h