Joint Velocity Controller.
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#include <joint_velocity_controller.h>
Detailed Description
Joint Velocity Controller.
- Author:
- Stuart Glaser This controller controls velocity using a pid loop.
ROS
- Parameters:
-
| type | Must be "JointVelocityController" |
| 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.
The documentation for this class was generated from the following file: