Class JointGroupVelocityController

Inheritance Relationships

Base Type

  • public forward_command_controller::ForwardCommandController

Class Documentation

class JointGroupVelocityController : public forward_command_controller::ForwardCommandController

Forward command controller for a set of velocity controlled joints (linear or angular).

This class forwards the commanded velocities down to a set of joints.

Subscribes to:

  • command (std_msgs::msg::Float64MultiArray) : The velocity commands to apply.

Param joints:

Names of the joints to control.

Public Functions

JointGroupVelocityController()
controller_interface::CallbackReturn on_init() override
controller_interface::CallbackReturn on_deactivate(const rclcpp_lifecycle::State &previous_state) override