ros_control
Hi everyone,
I am trying to implement a series elastic actuator (SEA) with ros_control. I have tried to implement 2 joints in series (one with the actuation and the other with the spring stiffness), but to control it correctly I need to read the difference angle between these two joints.
Is there a way to input two control variables in ros_control?
Thanks in advance.
Without knowing anything about what you've already tried: you should be able to claim two joints from a single controller. So yes, you should be able to "read the difference angle between [..] two joints" (or at least: calculate it).