Template Class HardwareInterfaceAdapter< hardware_interface::HW_IF_EFFORT >
Defined in File hardware_interface_adapter.hpp
Class Documentation
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template<>
class HardwareInterfaceAdapter<hardware_interface::HW_IF_EFFORT> Adapter for an effort-controlled hardware interface. Maps position and velocity errors to effort commands through a position PID loop.
The following is an example configuration of a controller that uses this adapter. Notice the
gainsentry:gripper_controller: type: "gripper_action_controller/GripperActionController" joints: gripper_joint goal_tolerance: 0.01 stalled_velocity_threshold: 0.01 stall_timeout: 0.2 gains: gripper_joint: {p: 200, d: 1, i: 5, i_clamp: 1}