Change computed_torque_control.* to comuted_torque_controller.*.
## Declare a cpp library
add_library(wam_controllers
src/computed_torque_controller.cpp
+ src/pid_plus_gravity_controller.cpp
)
## Declare a cpp executable
## Specify libraries to link a library or executable target against
target_link_libraries(${PROJECT_NAME}
${catkin_LIBRARIES}
- ${orocos-kdl_LIBRARIES}
+ ${orocos_kdl_LIBRARIES}
${kdl_parser_LIBRARIES}
)
+++ /dev/null
-wam:
- joint_state_controller:
- type: joint_state_controller/JointStateController
- publish_rate: 100
-
- computed_torque_controller:
- type: wam_controllers/ComputedTorqueController
- joints:
- - wam_joint_1
- - wam_joint_2
- - wam_joint_3
- - wam_joint_4
- - wam_joint_5
- - wam_joint_6
- - wam_joint_7
--- /dev/null
+wam:
+ joint_state_controller:
+ type: joint_state_controller/JointStateController
+ publish_rate: 100
+
+ computed_torque_controller:
+ type: effort_controllers/ComputedTorqueController
+ joints:
+ - wam_joint_1
+ - wam_joint_2
+ - wam_joint_3
+ - wam_joint_4
+ - wam_joint_5
+ - wam_joint_6
+ - wam_joint_7
+ Kp: [25.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
+ 0.0, 25.0, 0.0, 0.0, 0.0, 0.0, 0.0,
+ 0.0, 0.0, 25.0, 0.0, 0.0, 0.0, 0.0,
+ 0.0, 0.0, 0.0, 25.0, 0.0, 0.0, 0.0,
+ 0.0, 0.0, 0.0, 0.0, 25.0, 0.0, 0.0,
+ 0.0, 0.0, 0.0, 0.0, 0.0, 25.0, 0.0,
+ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 25.0]
+ Kd: [10.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
+ 0.0, 10.0, 0.0, 0.0, 0.0, 0.0, 0.0,
+ 0.0, 0.0, 10.0, 0.0, 0.0, 0.0, 0.0,
+ 0.0, 0.0, 0.0, 10.0, 0.0, 0.0, 0.0,
+ 0.0, 0.0, 0.0, 0.0, 10.0, 0.0, 0.0,
+ 0.0, 0.0, 0.0, 0.0, 0.0, 10.0, 0.0,
+ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 10.0]
+ gravity: {x: 0.0, y: 0.0, z: -9.8}
+ chain: {root: "wam_origin", tip: "wam_tool_plate"}
--- /dev/null
+wam:
+ joint_state_controller:
+ type: joint_state_controller/JointStateController
+ publish_rate: 250
+
+ pid_plus_gravity_controller:
+ type: effort_controllers/PidPlusGravityController
+ joints:
+ - wam_joint_1
+ - wam_joint_2
+ - wam_joint_3
+ - wam_joint_4
+ - wam_joint_5
+ - wam_joint_6
+ - wam_joint_7
+# PID parameters from /etc/barrett/wam7w.conf
+ wam_joint_1:
+ pid: {p: 900.0, i: 2.5, d: 10.0, i_clamp: 25.0}
+ wam_joint_2:
+ pid: {p: 2500.0, i: 5.0, d: 20.0, i_clamp: 20.0}
+ wam_joint_3:
+ pid: {p: 600.0, i: 2.0, d: 5.0, i_clamp: 15.0}
+ wam_joint_4:
+ pid: {p: 500.0, i: 0.5, d: 2.0, i_clamp: 15.0}
+ wam_joint_5:
+ pid: {p: 50.0, i: 0.5, d: 0.5, i_clamp: 5.0}
+ wam_joint_6:
+ pid: {p: 50.0, i: 0.5, d: 0.5, i_clamp: 5.0}
+ wam_joint_7:
+ pid: {p: 8.0, i: 0.1, d: 0.05, i_clamp: 5.0}
+ gravity: {x: 0.0, y: 0.0, z: -9.8}
+ chain: {root: "wam_origin", tip: "wam_tool_plate"}
+/******************************************************************************
+ ROS wam_controllers Package
+ Computed Torque Controller
+ Copyright (C) 2013..2017 Walter Fetter Lages <w.fetter@ieee.org>
+
+ This program is free software: you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation, either version 3 of the License, or
+ (at your option) any later version.
+
+ This program is distributed in the hope that it will be useful, but
+ WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+ General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program. If not, see
+ <http://www.gnu.org/licenses/>.
+
+*******************************************************************************/
+
#ifndef WAM_CONTROLLERS_COMPUTED_TORQUE_CONTROLLER_H
#define WAM_CONTROLLERS_COMPUTED_TORQUE_CONTROLLER_H
#include <kdl_parser/kdl_parser.hpp>
#include <kdl/chainidsolver_recursive_newton_euler.hpp>
-namespace wam_controllers
+namespace effort_controllers
{
class ComputedTorqueController: public controller_interface::
Controller<hardware_interface::EffortJointInterface>
{
ros::NodeHandle node_;
- hardware_interface::EffortJointInterface *robot_;
+ hardware_interface::EffortJointInterface *hw_;
std::vector<hardware_interface::JointHandle> joints_;
+ int nJoints_;
ros::Subscriber sub_command_;
ComputedTorqueController(void);
~ComputedTorqueController(void);
- bool init(hardware_interface::EffortJointInterface *robot,
+ bool init(hardware_interface::EffortJointInterface *hw,
ros::NodeHandle &n);
void starting(const ros::Time& time);
void update(const ros::Time& time,const ros::Duration& duration);
--- /dev/null
+/******************************************************************************
+ ROS wam_controllers Package
+ PID+Gravity Compensation Controller
+ Copyright (C) 2017 Walter Fetter Lages <w.fetter@ieee.org>
+
+ This program is free software: you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation, either version 3 of the License, or
+ (at your option) any later version.
+
+ This program is distributed in the hope that it will be useful, but
+ WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+ General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program. If not, see
+ <http://www.gnu.org/licenses/>.
+
+*******************************************************************************/
+
+#ifndef WAM_CONTROLLERS_PID_PLUS_GRAVITY_CONTROLLER_H
+#define WAM_CONTROLLERS_PID_PLUS_GRAVITY_CONTROLLER_H
+
+#include <cstddef>
+#include <vector>
+#include <string>
+
+#include <ros/node_handle.h>
+#include <hardware_interface/joint_command_interface.h>
+#include <control_toolbox/pid.h>
+#include <controller_interface/controller.h>
+#include <trajectory_msgs/JointTrajectoryPoint.h>
+#include <sensor_msgs/JointState.h>
+
+#include <Eigen/Core>
+
+#include <kdl/frames.hpp>
+#include <kdl_parser/kdl_parser.hpp>
+#include <kdl/chaindynparam.hpp>
+
+namespace effort_controllers
+{
+ class PidPlusGravityController: public controller_interface::
+ Controller<hardware_interface::EffortJointInterface>
+ {
+ ros::NodeHandle node_;
+
+ hardware_interface::EffortJointInterface *hw_;
+ std::vector<hardware_interface::JointHandle> joints_;
+
+ ros::Subscriber sub_command_;
+
+ KDL::ChainDynParam *chainParam_;
+
+ KDL::JntArray q_;
+ KDL::JntArray qr_;
+ KDL::JntArray gravity_;
+
+ std::vector<control_toolbox::Pid> pid_;
+
+ void commandCB(const trajectory_msgs::JointTrajectoryPoint::ConstPtr
+ &referencePoint);
+
+ public:
+ PidPlusGravityController(void);
+ ~PidPlusGravityController(void);
+
+ bool init(hardware_interface::EffortJointInterface *hw,
+ ros::NodeHandle &n);
+ void starting(const ros::Time& time);
+ void update(const ros::Time& time,const ros::Duration& duration);
+ };
+}
+#endif
<launch>
- <rosparam file="$(find wam_controllers)/config/computed_torque_control.yaml"
+ <rosparam file="$(find wam_controllers)/config/computed_torque_controller.yaml"
command="load"/>
<node name="controller_spawner" pkg="controller_manager" type="spawner"
--- /dev/null
+<launch>
+ <arg name="paused" default="true"/>
+ <arg name="headless" default="false"/>
+ <arg name="use_sim_time" default="true"/>
+ <arg name="table" default="true"/>
+ <arg name="bhand" default="false"/>
+
+
+ <include file="$(find wam_description)/launch/gazebo.launch" >
+ <arg name="paused" value="$(arg paused)"/>
+ <arg name="headless" value="$(arg headless)"/>
+ <arg name="use_sim_time" value="$(arg use_sim_time)"/>
+ <arg name="table" value="$(arg table)"/>
+ <arg name="bhand" value="$(arg bhand)"/>
+ </include>
+
+ <include file="$(find wam_controllers)/launch/pid_plus_gravity.launch" />
+
+</launch>
--- /dev/null
+<launch>
+ <rosparam file="$(find wam_controllers)/config/pid_plus_gravity_controller.yaml"
+ command="load"/>
+
+ <node name="controller_spawner" pkg="controller_manager" type="spawner"
+ respawn="false" output="screen" ns="wam"
+ args="joint_state_controller pid_plus_gravity_controller" >
+ </node>
+</launch>
<build_depend>urdf</build_depend>
<build_depend>cmake_modules</build_depend>
- <run_depend>cmake_modules</run_depend>
<run_depend>controller_interface</run_depend>
<run_depend>controller_manager</run_depend>
<run_depend>control_msgs</run_depend>
- <run_depend> joint_state_controller</run_depend>
+ <run_depend>joint_state_controller</run_depend>
<run_depend>urdf</run_depend>
<run_depend>kdl_parser</run_depend>
<!-- Other tools can request additional information be placed here -->
<controller_interface plugin="${prefix}/wam_controllers_plugins.xml"/>
</export>
-</package>
\ No newline at end of file
+</package>
+/******************************************************************************
+ ROS wam_controllers Package
+ Computed Torque Controller
+ Copyright (C) 2013..2017 Walter Fetter Lages <w.fetter@ieee.org>
+
+ This program is free software: you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation, either version 3 of the License, or
+ (at your option) any later version.
+
+ This program is distributed in the hope that it will be useful, but
+ WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+ General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program. If not, see
+ <http://www.gnu.org/licenses/>.
+
+*******************************************************************************/
+
#include <sys/mman.h>
#include <wam_controllers/computed_torque_controller.h>
#include <pluginlib/class_list_macros.h>
-#include <kdl/frames.hpp>
-#include <kdl_parser/kdl_parser.hpp>
-#include <kdl/chainidsolver_recursive_newton_euler.hpp>
-
-#define Ts 0.8
-#define Xi 1.0
-#define Wn (4.0/Ts/Xi)
-
-namespace wam_controllers
+namespace effort_controllers
{
ComputedTorqueController::ComputedTorqueController(void):
q(0),dq(0),v(0),qr(0),dqr(0),ddqr(0),torque(0),fext(0)
}
bool ComputedTorqueController::
- init(hardware_interface::EffortJointInterface *robot,ros::NodeHandle &n)
+ init(hardware_interface::EffortJointInterface *hw,ros::NodeHandle &n)
{
node_=n;
- robot_=robot;
+ hw_=hw;
- XmlRpc::XmlRpcValue joint_names;
+ std::vector<std::string> joint_names;
if(!node_.getParam("joints",joint_names))
{
ROS_ERROR("No 'joints' in controller. (namespace: %s)",
return false;
}
- if(joint_names.getType() != XmlRpc::XmlRpcValue::TypeArray)
- {
- ROS_ERROR("'joints' is not a struct. (namespace: %s)",
- node_.getNamespace().c_str());
- return false;
- }
+ nJoints_=joint_names.size();
- for(int i=0; i < joint_names.size();i++)
+ for(int i=0; i < nJoints_;i++)
{
- XmlRpc::XmlRpcValue &name_value=joint_names[i];
- if(name_value.getType() != XmlRpc::XmlRpcValue::TypeString)
+ try
{
- ROS_ERROR("joints are not strings. (namespace: %s)",
- node_.getNamespace().c_str());
+ joints_.push_back(hw->getHandle(joint_names[i]));
+ }
+ catch(const hardware_interface::HardwareInterfaceException& e)
+ {
+ ROS_ERROR_STREAM("Exception thrown: " << e.what());
return false;
}
-
- hardware_interface::JointHandle j=robot->
- getHandle((std::string)name_value);
- joints_.push_back(j);
}
- sub_command_=node_.subscribe("command",1000,
+ sub_command_=node_.subscribe("command",1,
&ComputedTorqueController::commandCB, this);
std::string robot_desc_string;
return false;
}
+ std::string chainRoot;
+ if(!node_.getParam("chain/root",chainRoot))
+ {
+ ROS_ERROR("Could not find 'chain_root' parameter.");
+ return false;
+ }
+
+ std::string chainTip;
+ if(!node_.getParam("chain/tip",chainTip))
+ {
+ ROS_ERROR("Could not find 'chain/tip' parameter.");
+ return false;
+ }
+
KDL::Chain chain;
- if (!tree.getChain("wam_origin","wam_tool_plate",chain))
+ if (!tree.getChain(chainRoot,chainTip,chain))
{
ROS_ERROR("Failed to get chain from KDL tree.");
return false;
}
KDL::Vector g;
- node_.param("/gazebo/gravity_x",g[0],0.0);
- node_.param("/gazebo/gravity_y",g[1],0.0);
- node_.param("/gazebo/gravity_z",g[2],-9.8);
+ node_.param("gravity/x",g[0],0.0);
+ node_.param("gravity/y",g[1],0.0);
+ node_.param("gravity/z",g[2],-9.8);
if((idsolver=new KDL::ChainIdSolver_RNE(chain,g)) == NULL)
{
return false;
}
- q.resize(chain.getNrOfJoints());
- dq.resize(chain.getNrOfJoints());
- v.resize(chain.getNrOfJoints());
- qr.resize(chain.getNrOfJoints());
- dqr.resize(chain.getNrOfJoints());
- ddqr.resize(chain.getNrOfJoints());
- torque.resize(chain.getNrOfJoints());
+ q.resize(nJoints_);
+ dq.resize(nJoints_);
+ v.resize(nJoints_);
+ qr.resize(nJoints_);
+ dqr.resize(nJoints_);
+ ddqr.resize(nJoints_);
+ torque.resize(nJoints_);
fext.resize(chain.getNrOfSegments());
- Kp.resize(chain.getNrOfJoints(),chain.getNrOfJoints());
- Kd.resize(chain.getNrOfJoints(),chain.getNrOfJoints());
+ Kp.resize(nJoints_,nJoints_);
+ Kd.resize(nJoints_,nJoints_);
+
+ std::vector<double> KpVec;
+ if(!node_.getParam("Kp",KpVec))
+ {
+ ROS_ERROR("No 'Kp' in controller %s.",node_.getNamespace().c_str());
+ return false;
+ }
+ Kp=Eigen::Map<Eigen::MatrixXd>(KpVec.data(),nJoints_,nJoints_);
+
+ std::vector<double> KdVec;
+ if(!node_.getParam("Kd",KdVec))
+ {
+ ROS_ERROR("No 'Kd' in controller %s.",node_.getNamespace().c_str());
+ return false;
+ }
+ Kd=Eigen::Map<Eigen::MatrixXd>(KdVec.data(),nJoints_,nJoints_);
return true;
}
void ComputedTorqueController::starting(const ros::Time& time)
{
- Kp.setZero();
- Kd.setZero();
- for(unsigned int i=0;i < joints_.size();i++)
+ for(unsigned int i=0;i < nJoints_;i++)
{
- Kp(i,i)=Wn*Wn;
- Kd(i,i)=2.0*Xi*Wn;
q(i)=joints_[i].getPosition();
dq(i)=joints_[i].getVelocity();
}
void ComputedTorqueController::update(const ros::Time& time,
const ros::Duration& duration)
{
- for(unsigned int i=0;i < joints_.size();i++)
+ for(unsigned int i=0;i < nJoints_;i++)
{
q(i)=joints_[i].getPosition();
dq(i)=joints_[i].getVelocity();
if(idsolver->CartToJnt(q,dq,v,fext,torque) < 0)
ROS_ERROR("KDL inverse dynamics solver failed.");
- for(unsigned int i=0;i < joints_.size();i++)
+ for(unsigned int i=0;i < nJoints_;i++)
joints_[i].setCommand(torque(i));
}
void ComputedTorqueController::commandCB(const trajectory_msgs::
JointTrajectoryPoint::ConstPtr &referencePoint)
{
- for(unsigned int i=0;i < qr.rows();i++)
+ for(unsigned int i=0;i < nJoints_;i++)
{
qr(i)=referencePoint->positions[i];
dqr(i)=referencePoint->velocities[i];
}
}
-PLUGINLIB_EXPORT_CLASS(wam_controllers::ComputedTorqueController,
+PLUGINLIB_EXPORT_CLASS(effort_controllers::ComputedTorqueController,
controller_interface::ControllerBase)
--- /dev/null
+/******************************************************************************
+ ROS wam_controllers Package
+ PID+Gravity Compensation Controller
+ Copyright (C) 2017 Walter Fetter Lages <w.fetter@ieee.org>
+
+ This program is free software: you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation, either version 3 of the License, or
+ (at your option) any later version.
+
+ This program is distributed in the hope that it will be useful, but
+ WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+ General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program. If not, see
+ <http://www.gnu.org/licenses/>.
+
+*******************************************************************************/
+
+#include <sys/mman.h>
+
+#include <wam_controllers/pid_plus_gravity_controller.h>
+#include <pluginlib/class_list_macros.h>
+
+namespace effort_controllers
+{
+ PidPlusGravityController::PidPlusGravityController(void):
+ q_(0),qr_(0),gravity_(0)
+ {
+ }
+
+ PidPlusGravityController::~PidPlusGravityController(void)
+ {
+ sub_command_.shutdown();
+ }
+
+ bool PidPlusGravityController::
+ init(hardware_interface::EffortJointInterface *hw,ros::NodeHandle &n)
+ {
+ node_=n;
+ hw_=hw;
+
+ std::vector<std::string> joint_names;
+ if(!node_.getParam("joints",joint_names))
+ {
+ ROS_ERROR("No 'joints' in controller. (namespace: %s)",
+ node_.getNamespace().c_str());
+ return false;
+ }
+
+ pid_.resize(joint_names.size());
+
+ for(int i=0; i < joint_names.size();i++)
+ {
+ try
+ {
+ joints_.push_back(hw->getHandle(joint_names[i]));
+ }
+ catch(const hardware_interface::HardwareInterfaceException& e)
+ {
+ ROS_ERROR_STREAM("Exception thrown: " << e.what());
+ return false;
+ }
+ if(!pid_[i].init(ros::NodeHandle(node_,joint_names[i]+"/pid")))
+ {
+ ROS_ERROR_STREAM("Failed to load PID parameters from " << joint_names[i] + "/pid");
+ return false;
+ }
+ }
+
+ sub_command_=node_.subscribe("command",1,
+ &PidPlusGravityController::commandCB, this);
+
+ std::string robot_desc_string;
+ if(!node_.getParam("/robot_description",robot_desc_string))
+ {
+ ROS_ERROR("Could not find '/robot_description'.");
+ return false;
+ }
+
+ KDL::Tree tree;
+ if (!kdl_parser::treeFromString(robot_desc_string,tree))
+ {
+ ROS_ERROR("Failed to construct KDL tree.");
+ return false;
+ }
+
+ std::string chainRoot;
+ if(!node_.getParam("chain/root",chainRoot))
+ {
+ ROS_ERROR("Could not find 'chain_root' parameter.");
+ return false;
+ }
+
+ std::string chainTip;
+ if(!node_.getParam("chain/tip",chainTip))
+ {
+ ROS_ERROR("Could not find 'chain/tip' parameter.");
+ return false;
+ }
+
+ KDL::Chain chain;
+ if (!tree.getChain(chainRoot,chainTip,chain))
+ {
+ ROS_ERROR("Failed to get chain from KDL tree.");
+ return false;
+ }
+
+ KDL::Vector g;
+ node_.param("gravity/x",g[0],0.0);
+ node_.param("gravity/y",g[1],0.0);
+ node_.param("gravity/z",g[2],-9.8);
+
+ if((chainParam_=new KDL::ChainDynParam(chain,g)) == NULL)
+ {
+ ROS_ERROR("Failed to create ChainDynParam.");
+ return false;
+ }
+
+ q_.resize(chain.getNrOfJoints());
+ qr_.resize(chain.getNrOfJoints());
+ gravity_.resize(chain.getNrOfJoints());
+
+ return true;
+ }
+
+ void PidPlusGravityController::starting(const ros::Time& time)
+ {
+ for(unsigned int i=0;i < joints_.size();i++)
+ q_(i)=joints_[i].getPosition();
+ qr_=q_;
+
+ struct sched_param param;
+ param.sched_priority=sched_get_priority_max(SCHED_FIFO);
+ if(sched_setscheduler(0,SCHED_FIFO,¶m) == -1)
+ {
+ ROS_WARN("Failed to set real-time scheduler.");
+ return;
+ }
+ if(mlockall(MCL_CURRENT|MCL_FUTURE) == -1)
+ ROS_WARN("Failed to lock memory.");
+ }
+
+ void PidPlusGravityController::update(const ros::Time& time,
+ const ros::Duration& duration)
+ {
+ for(unsigned int i=0;i < joints_.size();i++)
+ q_(i)=joints_[i].getPosition();
+
+ if(chainParam_->JntToGravity(q_,gravity_) < 0)
+ ROS_ERROR("KDL dynamics solver failed.");
+
+ for(unsigned int i=0;i < joints_.size();i++)
+ joints_[i].setCommand(gravity_(i)+pid_[i].computeCommand(qr_(i)-q_(i),duration));
+ }
+
+ void PidPlusGravityController::commandCB(const trajectory_msgs::
+ JointTrajectoryPoint::ConstPtr &referencePoint)
+ {
+ if(referencePoint->positions.size()!=qr_.rows())
+ {
+ ROS_ERROR_STREAM("Dimension of command (" << referencePoint->positions.size() << ") does not match number of joints (" << qr_.rows() << ")!");
+ return;
+ }
+ for(unsigned int i=0;i < qr_.rows();i++)
+ qr_(i)=referencePoint->positions[i];
+ }
+}
+
+PLUGINLIB_EXPORT_CLASS(effort_controllers::PidPlusGravityController,
+ controller_interface::ControllerBase)
<library path="lib/libwam_controllers">
- <class name="wam_controllers/ComputedTorqueController"
- type="wam_controllers::ComputedTorqueController"
+ <class name="effort_controllers/ComputedTorqueController"
+ type="effort_controllers::ComputedTorqueController"
base_class_type="controller_interface::ControllerBase">
<description>
The ComputedTorqueController implements a computed torque controller
in joint space for the Barrett WAM dynamic model. The reference
inputs (command in the ROS nomenclature) are joint positions,
- velocities and accelerations. This typf of controller expects an
+ velocities and accelerations. This type of controller expects an
EffortJointInterface type of hardware interface.
</description>
</class>
+
+ <class name="effort_controllers/PidPlusGravityController"
+ type="effort_controllers::PidPlusGravityController"
+ base_class_type="controller_interface::ControllerBase">
+ <description>
+ The PidPlusGravityController implements a PID controller with gravity
+ compensation in joint space for the Barrett WAM dynamic model. The
+ reference inputs (command in the ROS nomenclature) are joint
+ positions. This type of controller expects an EffortJointInterface
+ type of hardware interface.
+ </description>
+ </class>
</library>
projects / ufrgs_wam.git / commitdiff