Cartesian pose controller. More...
Cartesian pose controller.
Controls the pose of the end effector of a chain of the robot.
|type||Must be "CartesianPoseController"|
|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.|
|output||The name of the CartesianWrenchController which will achieve the desired wrench computed by this controller.|
|fb_trans||The gains for the PID loop around position. See: control_toolbox::Pid|
|fb_rot||The gains for the PID loop around orientation. See: control_toolbox::Pid|