effort_controllers

This is a collection of controllers that work using the “effort” joint command interface but may accept different joint-level commands at the controller level, e.g. controlling the effort on a certain joint to achieve a set position.

The package contains the following controllers:

effort_controllers/JointGroupEffortController

This is specialization of the forward_command_controller that works using the “effort” joint interface.

ROS 2 interface of the controller

Topics

~/commands (input topic) [std_msgs::msg::Float64MultiArray]

Joints’ effort commands

Parameters

This controller overrides the interface parameter from forward_command_controller, and the joints parameter is the only one that is required.

An example parameter file is given here

controller_manager:
  ros__parameters:
    update_rate: 100  # Hz

    effort_controller:
      type: effort_controllers/JointGroupEffortController

effort_controller:
  ros__parameters:
    joints:
      - slider_to_cart