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1 | initial version |
I could finally publish raw joint velocity command to a joint. Here are what I did:
l_shoulder_pan_velocity_controller:
type: robot_mechanism_controllers/JointVelocityController
joint: l_shoulder_pan_joint
pid:
p: 5.0
i: 20.0
i_clamp: 100.0
$ rosparam load l_shoulder_pan_velocity_controller.yaml
rosrun pr2_controller_manager pr2_controller_manger load l_shoulder_pan_velocity_controller
rosrun pr2_controller_manager pr2_controller_manager stop l_arm_controller
- Start the joint velocity controller for l_shoulder_pan_joint
rosrun pr2_controller_manager pr2_controller_manager start l_shoulder_pan_velocity_controller
- Publish joint velocity command topic
rostopic pub -1 l_shoulder_pan_velocity_controller/commad std_msgs/Float64 1.0
2 | No.2 Revision |
I could finally publish raw joint velocity command to a joint. Here are what I did:
l_shoulder_pan_velocity_controller:
$ rosparam load l_shoulder_pan_velocity_controller.yaml
rosrun pr2_controller_manager pr2_controller_manger load l_shoulder_pan_velocity_controller
rosrun pr2_controller_manager pr2_controller_manager stop l_arm_controller
- Start the joint velocity controller for l_shoulder_pan_joint
rosrun pr2_controller_manager pr2_controller_manager start l_shoulder_pan_velocity_controller
- Publish joint velocity command topic
rostopic pub -1 l_shoulder_pan_velocity_controller/commad std_msgs/Float64 1.0