[Documentation] [TitleIndex] [WordIndex

ros_controllers_cartesian: cartesian_interface | cartesian_trajectory_controller | cartesian_trajectory_interpolation | twist_controller

Package Summary

A ros_control controller accepting Cartesian twist messages in order to move a robot manipulator. It uses a Cartesian interface to the robot, so that the robot hardware takes care about doing the inverse kinematics. This could be used e.g. for visual servoing applications.

ros_controllers_cartesian: cartesian_interface | cartesian_trajectory_controller | cartesian_trajectory_interpolation | twist_controller

Package Summary

A ros_control controller accepting Cartesian twist messages in order to move a robot manipulator. It uses a Cartesian interface to the robot, so that the robot hardware takes care about doing the inverse kinematics. This could be used e.g. for visual servoing applications.

Contents

  1. Configuration

A Cartesian ROS-controller for commanding target twists to a robot.

This controller makes use of a TwistCommandInterface to set a user specified twist message as reference for robot control.

Configuration

A possible configuration looks like this:

   1 twist_controller:
   2    type:         ros_controllers_cartesianlers/TwistController
   3 
   4    # The controller uses this identifier to get the according command handle
   5    # from the hardware interface.
   6    frame_id:     "endpoint_to_control"
   7 
   8    joints:
   9    - joint1
  10    - joint2
  11    - joint3
  12    - joint4
  13    - joint5
  14    - joint6


2022-09-24 13:06