pr2_controller_interface::CartesianTwistController Class Reference

Cartesian twist controller. More...

#include <cartesian_twist_controller.h>

Detailed Description

Cartesian twist controller.

Author

Wim Meeussen

Controls the twist at the end effector of a chain of the robot.

ROS

Parameters

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

Subscribes to:

• command (geometry_msgs::Twist) : The desired twist to achieve.

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

• cartesian_twist_controller.h