Cartesian twist controller. More...
Cartesian twist controller.
Controls the twist at the end effector of a chain of the robot.
|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|