Adapter for a position-controlled hardware interface. Forwards desired positions as commands.
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template<class State>
class HardwareInterfaceAdapter< hardware_interface::PositionJointInterface, State >
Adapter for a position-controlled hardware interface. Forwards desired positions as commands.
The following is an example configuration of a controller that uses this adapter.
head_controller:
type: "position_controllers/JointTrajectoryController"
joints:
- head_1_joint
- head_2_joint
constraints:
goal_time: 0.6
stopped_velocity_tolerance: 0.02
head_1_joint: {trajectory: 0.05, goal: 0.02}
head_2_joint: {trajectory: 0.05, goal: 0.02}
stop_trajectory_duration: 0.5
state_publish_rate: 25
Definition at line 94 of file hardware_interface_adapter.h.