This is a collection of controllers that work using the "velocity" joint command interface but may accept different joint-level commands at the controller level, e.g. controlling the velocity on a certain joint to achieve a set position.
The package contains the following controllers:
This is specialization of the forward_command_controller <forward_command_controller_userdoc> that works using the "velocity" joint interface.
- ~/commands (input topic) [std_msgs::msg::Float64MultiArray]
Joints' velocity commands
This controller overrides the interface parameter from forward_command_controller <forward_command_controller_userdoc>, 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
velocity_controller:
type: velocity_controllers/JointGroupVelocityController
velocity_controller:
ros__parameters:
joints:
- slider_to_cart