Class JointGroupVelocityController

Inheritance Relationships

Base Type

  • public forward_command_controller::ForwardCommandController

Class Documentation

class JointGroupVelocityController : public forward_command_controller::ForwardCommandController

Forward command controller for a set of velocity controlled joints (linear or angular).

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

Subscribes to:

  • command (std_msgs::msg::Float64MultiArray) : The velocity commands to apply.

Param joints:

Names of the joints to control.

Public Functions

VELOCITY_CONTROLLERS_PUBLIC JointGroupVelocityController()
VELOCITY_CONTROLLERS_PUBLIC controller_interface::CallbackReturn on_init () override
VELOCITY_CONTROLLERS_PUBLIC controller_interface::CallbackReturn on_deactivate (const rclcpp_lifecycle::State &previous_state) override