Adapter for an effort-controlled hardware interface. Maps position and velocity errors to effort commands through a position PID loop. More...
#include <hardware_interface_adapter.h>
Additional Inherited Members | |
Public Member Functions inherited from ClosedLoopHardwareInterfaceAdapter< State > | |
ClosedLoopHardwareInterfaceAdapter () | |
bool | init (std::vector< hardware_interface::JointHandle > &joint_handles, ros::NodeHandle &controller_nh) |
void | starting (const ros::Time &) |
void | stopping (const ros::Time &) |
void | updateCommand (const ros::Time &, const ros::Duration &period, const State &desired_state, const State &state_error) |
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 gains
and velocity_ff
entries:
Definition at line 284 of file hardware_interface_adapter.h.