The site is read-only. Please transition to use Robotics Stack Exchange
| ROS Resources: Documentation | Support | Discussion Forum | Index | Service Status | ros @ Robotics Stack Exchange |
 | 1 | initial version |
As the name implies (JointControllerState) this message is/may be used to publish the (internal) state of a joint (pid) controller.
As to the fields:
float64 set_point
the current set point (ie: desired state).
float64 process_value
the current value of the process (ie: latest sensor measurement on the controlled value).
float64 process_value_dot
first time-derivative of the process value.
float64 error
Essentially process_value - set_point.
float64 time_step
time between two consecutive updates/execution of the control law (ie: delta-t).
float64 command
current output of the controller.
As an example: see the JointVelocityController in ros_control.
Finally: it might be nice to contribute some comments to the message definition file in ros-controls/control_msgs if you now understand what the purpose of these fields is.
That would help future readers and users of the message avoid questions such as the one you posted.
| | 2 | No.2 Revision |
As the name implies (JointControllerState) this message is/may be used to publish the (internal) state of a joint (pid) controller.
As to the fields:
float64 set_point
the current set point (ie: desired state).
float64 process_value
the current value of the process (ie: latest sensor measurement on the controlled value).
float64 process_value_dot
first time-derivative of the process value.
float64 error
Essentially process_value - set_point. (for a regular PID implementation).
float64 time_step
time between two consecutive updates/execution of the control law (ie: delta-t).
float64 command
current output of the controller.
As an example: see the JointVelocityController in ros_control.
Finally: it might be nice to contribute some comments to the message definition file in ros-controls/control_msgs if you now understand what the purpose of these fields is.
That would help future readers and users of the message avoid questions such as the one you posted.
| | 3 | No.3 Revision |
As the name implies (JointControllerState) this message is/may be used to publish the (internal) state of a joint (pid) controller.
As to the fields:
float64 set_point
the current set point (ie: desired state).
float64 process_value
the current value of the process (ie: latest sensor measurement on the controlled value).
float64 process_value_dot
first time-derivative of the process value.
float64 error
float64 error
Essentially process_value - set_point (for a regular PID implementation).
float64 time_step
time between two consecutive updates/execution of the control law (ie: delta-t).
float64 command
current output of the controller.
As an example: see the JointVelocityController in ros_control.
Finally: it might be nice to contribute some comments to the message definition file in ros-controls/control_msgs if you now understand what the purpose of these fields is.
That would help future readers and users of the message avoid questions such as the one you posted.
ROS Answers is licensed under Creative Commons Attribution 3.0 Content on this site is licensed under a Creative Commons Attribution Share Alike 3.0 license.
