Class JointTrajectoryController

source code

       object --+                
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sip.simplewrapper --+            
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          sip.wrapper --+        
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     PyQt5.QtCore.QObject --+    
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         qt_gui.plugin.Plugin --+
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                               JointTrajectoryController

Graphical frontend for a JointTrajectoryController.

There are two modes for interacting with a controller:

1. Monitor mode Joint displays are updated with the state reported by the controller. This is a read-only mode and does not send control commands. Every time a new controller is selected, it starts in monitor mode for safety reasons.
2. Control mode Joint displays update the control command that is sent to the controller. Commands are sent periodically evan if the displays are not being updated by the user.

To control the aggressiveness of the motions, the maximum speed of the sent commands can be scaled down using the Speed scaling control

This plugin is able to detect and keep track of all active controller managers, as well as the JointTrajectoryControllers that are running in each controller manager. For a controller to be compatible with this plugin, it must comply with the following requisites:

• The controller type contains the JointTrajectoryController substring, e.g., position_controllers/JointTrajectoryController
• The controller exposes the command and state topics in its ROS interface.

Additionally, there must be a URDF loaded with a valid joint limit specification, namely position (when applicable) and velocity limits.

A reference implementation of the JointTrajectoryController is available in the joint_trajectory_controller ROS package.