forward_command_controller

This is a base class implementing a feedforward controller. Specific implementations of this base class can be found in:

position_controllers_userdoc
velocity_controllers_userdoc
effort_controllers

Hardware interface type

This controller can be used for every type of command interface.

ROS 2 interface of the controller

Topics

~/commands (input topic) [std_msgs::msg::Float64MultiArray]: Target joint commands

Parameters

This controller uses the generate_parameter_library to handle its parameters.