effort_controllers Namespace Reference

Classes
class	JointGroupPositionController
	Forward command controller for a set of effort controlled joints (torque or force). More...
class	JointPositionController
	Joint Position Controller. More...
class	JointVelocityController
	Joint Velocity Controller. More...

Typedefs
typedef forward_command_controller::ForwardCommandController< hardware_interface::EffortJointInterface >	JointEffortController
	Joint Effort Controller (torque or force) More...
typedef forward_command_controller::ForwardJointGroupCommandController< hardware_interface::EffortJointInterface >	JointGroupEffortController
	Forward command controller for a set of effort controlled joints (torque or force). More...

Typedef Documentation

JointEffortController

typedef forward_command_controller::ForwardCommandController<hardware_interface::EffortJointInterface> effort_controllers::JointEffortController

Joint Effort Controller (torque or force)

This class passes the commanded effort down to the joint.

ROS interface

Parameters

type	Must be "JointEffortController".
joint	Name of the joint to control.

Subscribes to:

• command (std_msgs::Float64) : The joint effort to apply.

Definition at line 59 of file joint_effort_controller.h.

JointGroupEffortController

typedef forward_command_controller::ForwardJointGroupCommandController<hardware_interface::EffortJointInterface> effort_controllers::JointGroupEffortController

Forward command controller for a set of effort controlled joints (torque or force).

This class forwards the commanded efforts down to a set of joints.

ROS interface

Parameters

type	Must be "JointGroupEffortController".
joints	List of names of the joints to control.

Subscribes to:

• command (std_msgs::Float64MultiArray) : The joint efforts to apply

Definition at line 60 of file joint_group_effort_controller.h.