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