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How do I actually move/command the motor?

You have to publish to the command topic of the lifter_joint_position_controller (just like in your example). If it does not work, please double-check that the controller was actually started. It looks like you have copied the parameters from the Schunk LWA4 packages, perhaps IGUS needs different settings.

Additionally i was thinking about if ros_control is really needed in my use-case?

ros_control provides a generic controller interface, so every user can choose their controllers.

igus-dryve already performs a closed-loop control so isn`t ros_control a layer ontop and too much?

position_controllers/JointPositionController just forwards the command, i.e., it connects CANopen and ROS.

How do I actually move/command the motor?

You have to publish to the command topic of the lifter_joint_position_controller (just like in your example). If it does not work, please double-check that the controller was actually started. It looks like you have copied the parameters from the Schunk LWA4 packages, perhaps IGUS needs different settings.

Additionally i was thinking about if ros_control is really needed in my use-case?

ros_control provides a generic controller interface, so every user all users can choose their controllers.

igus-dryve already performs a closed-loop control so isn`t ros_control a layer ontop and too much?

position_controllers/JointPositionController just forwards the command, i.e., it connects CANopen and ROS.