pr2_controller_interface::JointGroupVelocityController Class Reference

Joint Group Velocity Controller. More...

#include <joint_group_velocity_controller.h>

Detailed Description

Joint Group Velocity Controller.

Author

Stuart Glaser This controller controls velocity using a pid loop.

ROS interface

Parameters

type	Must be "JointGroupVelocityController"
joint	Name of the joint to control.
pid	Contains the gains for the PID loop around velocity. See: control_toolbox::Pid

Subscribes to:

• command (std_msgs::Float64) : The joint velocity to achieve

Publishes:

• state (robot_mechanism_controllers::JointControllerState) : Current state of the controller, including pid error and gains.

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The documentation for this class was generated from the following file:

• joint_group_velocity_controller.h