CartesianWrenchController Class Reference

Cartesian wrench controller. More...

#include <cartesian_wrench_controller.h>

Detailed Description

Cartesian wrench controller.

Author

Wim Meeussen

Controls the wrench at the end effector of a chain of the robot.

ROS interface

Parameters

type	Must be "CartesianWrenchController"
root_name	The name of the root link of the chain of links that you wish to control.
tip_name	The name of the tip link (end effector) of the chain of links that you wish to control.

Subscribes to:

• command (geometry_msgs::Wrench) : The desired wrench to achieve

---

The documentation for this class was generated from the following file:

• cartesian_wrench_controller.h