Class GravityCompensationExampleController
Inheritance Relationships
Base Type
public controller_interface::ControllerInterface
Class Documentation
-
class GravityCompensationExampleController : public controller_interface::ControllerInterface
The gravity compensation controller only sends zero torques so that the robot does gravity compensation
Public Functions
-
CallbackReturn on_configure(const rclcpp_lifecycle::State &previous_state) override
-
CallbackReturn on_init() override
-
controller_interface::InterfaceConfiguration command_interface_configuration() const override
-
controller_interface::InterfaceConfiguration state_interface_configuration() const override
-
controller_interface::return_type update(const rclcpp::Time &time, const rclcpp::Duration &period) override
-
CallbackReturn on_configure(const rclcpp_lifecycle::State &previous_state) override