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 | 1 | initial version |
I managed to use velocity_controllers/JointPositionController instead of position_controllers/JointPositionController with the prismatic joint. You just need to add a PID for it. Here's an example.
Before:
arm_controller:
type: "position_controllers/JointPositionController"
joint: arm_joint
After:
arm_controller:
type: "velocity_controllers/JointPositionController"
joint: arm_joint
pid: {p: 100.0, i: 0.01, d: 1.0}
| | 2 | No.2 Revision |
I managed to use velocity_controllers/JointPositionController instead of position_controllers/JointPositionController with the prismatic joint. You just need to add a PID for it. Here's an example.
Before:
arm_controller:
type: "position_controllers/JointPositionController"
joint: arm_joint
After:
arm_controller:
type: "velocity_controllers/JointPositionController"
joint: arm_joint
pid: {p: 100.0, i: 0.01, d: 1.0}
And for the transmission:
<hardwareInterface>hardware_interface/VelocityJointInterface </hardwareInterface>
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