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1 | initial version |
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.
2 | No.2 Revision |
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.