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You'll want to add a JointTrajectoryController to your ros_control configuration.

Something like this should work:

pos_joint_traj_controller:
  type: position_controllers/JointTrajectoryController
  joints:
    - jt1_joint
    - jt2_joint
    - jt3_joint
    - jt4_joint
    - jt5_joint
  constraints:
    goal_time: 0.6
    stopped_velocity_tolerance: 0.05
    shoulder_pan_joint: {trajectory: 0.2, goal: 0.1}
    shoulder_lift_joint: {trajectory: 0.2, goal: 0.1}
    elbow_joint: {trajectory: 0.2, goal: 0.1}
    wrist_1_joint: {trajectory: 0.2, goal: 0.1}
    wrist_2_joint: {trajectory: 0.2, goal: 0.1}
    wrist_3_joint: {trajectory: 0.2, goal: 0.1}
  stop_trajectory_duration: 0.5
  state_publish_rate: 25
  action_monitor_rate: 10

Note: the constraints section could require some tweaking to get the values right for your robot.

In general being able to control individual joints is nice, but typically I don't really have a use-case for it.

To me a JointGroupPositionController would make more sense, if you're not interested in executing trajectories.

You'll want to add a JointTrajectoryController to your ros_control configuration.

Something like this should work:

pos_joint_traj_controller:
  type: position_controllers/JointTrajectoryController
  joints:
    - jt1_joint
    - jt2_joint
    - jt3_joint
    - jt4_joint
    - jt5_joint
  constraints:
    goal_time: 0.6
    stopped_velocity_tolerance: 0.05
    shoulder_pan_joint: {trajectory: 0.2, goal: 0.1}
    shoulder_lift_joint: {trajectory: 0.2, goal: 0.1}
    elbow_joint: {trajectory: 0.2, goal: 0.1}
    wrist_1_joint: {trajectory: 0.2, goal: 0.1}
    wrist_2_joint: {trajectory: 0.2, goal: 0.1}
    wrist_3_joint: jt1_joint: {trajectory: 0.2, goal: 0.1}
    jt2_joint: {trajectory: 0.2, goal: 0.1}
    jt3_joint: {trajectory: 0.2, goal: 0.1}
    jt4_joint: {trajectory: 0.2, goal: 0.1}
    jt5_joint: {trajectory: 0.2, goal: 0.1}
  stop_trajectory_duration: 0.5
  state_publish_rate: 25
  action_monitor_rate: 10

Note: the constraints section could require some tweaking to get the values right for your robot.

In general being able to control individual joints is nice, but typically I don't really have a use-case for it.

To me a JointGroupPositionController would make more sense, if you're not interested in executing trajectories.