Attention: Answers.ros.org is deprecated as of August the 11th, 2023. Please visit robotics.stackexchange.com to ask a new question. This site will remain online in read-only mode during the transition and into the foreseeable future. Selected questions and answers have been migrated, and redirects have been put in place to direct users to the corresponding questions on Robotics Stack Exchange. Additional details are available here.

Revision history [back]

The inputs to ros controllers are always in SI units, so a joint position controller will accept either radians if it's a revolute joint or meters if it's a linear joint. In order to work out which is it you'll need to look at the URDF file of the robot model to find out what type of joint is being controlled.

Hope this helps.

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.