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1 | initial version |
1- the yaml
file is basically describe the used controllers. It always contains the joint_state_controller
which is in charge of providing constant information about the state of the joint, and the description of the other controllers. The /joint_states
topic is published by an instance of the JointStateController
. This is a read-only controller that does not command any joint, but rather publishes the current joint states at a configurable frequency (publish_rate
).
2- the inputs to ros controllers are always in SI units, so a joint velocity controller will accept radians per second.
3- joint_state_controller
: it continuously provides the state of the joint.
4- for the question in the comment, I think that it is a bug with velocity_controllers
which prevent the topic my_joint_position_controller/state
to be published. I changed the controller to effort_controllers/JointVelocityController
and I get this topic.
5- a nice tutorial explaining ros_control
can be found here.