Class JointGroupPositionController

• Defined in File joint_group_position_controller.hpp

Inheritance Relationships

Base Type

• public forward_command_controller::ForwardCommandController

Class Documentation

class JointGroupPositionController : public forward_command_controller::ForwardCommandController

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

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

Subscribes to:

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

Param joints:

Names of the joints to control.

Public Functions

POSITION_CONTROLLERS_PUBLIC JointGroupPositionController()

POSITION_CONTROLLERS_PUBLIC controller_interface::CallbackReturn on_init () override