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 | 1 | initial version |
At least the ur_modern_driver supports velocity control both with the ros_control setup as well as when not using ros_control.
Velocity setpoints are directly mapped onto speedj(..) statements on the controller.
See ros-industrial/ur_modern_driver#218 for some discussion on using ros_control's JointGroupVelocityController. The readme (briefly) documents the /joint_speed topic.
| | 2 | No.2 Revision |
At least the ur_modern_driver supports joint velocity control both with the ros_control setup as well as when not using ros_control.
Velocity setpoints are directly mapped onto speedj(..) statements on the controller.
See ros-industrial/ur_modern_driver#218 for some discussion on using ros_control's JointGroupVelocityController. The readme (briefly) documents the /joint_speed topic.
| | 3 | No.3 Revision |
At least the ur_modern_driver supports joint velocity control both with the ros_control setup as well as when in kinetic-devel (the old driver (master branch, deprecated) supported a /joint_speed topic, but that has not using been ported to the new version).ros_control.
Velocity setpoints are directly mapped onto speedj(..) statements on the controller.
See ros-industrial/ur_modern_driver#218 for some discussion on using ros_control's JointGroupVelocityController. The readme (briefly) documents the ./joint_speed topic.
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