Question

The file quickcommands shows how to set channeltargets:

rostopic pub /svh_controller/channel_targets sensor_msgs/JointState "header:
  seq: 0


stamp: {secs: 0, nsecs: 0}
  frame_id: ''
name: ['Index_Finger_Proximal','Index_Finger_Distal','Middle_Finger_Proximal','Middle_Finger_Distal','Ring_Finger','Pinky','Finger_Spread','Thumb_Flexion']
position: [0.8,1.3,0.8,1.3,0.9,0.9,0.5,0.3]
velocity: [0,0,0,0,0,0,0,0]
effort: [0,0,0,0,0,0,0,0]"

what does it mean with "velocity"? what is "effort"?

Asked by Alba on 2015-05-05 09:14:00 UTC

Answer 1

Hey,

the interface currently uses the JointState Message as input. Its a standard message type consisting of Position, Velocity and Effort values for each joint. These messages are originally meant as output (hence the sensor message) but were the easiest to use as input. The driver only uses the Position value so you can disregard the velocity and effort fields. However, to be consistent, you should fill out the values with zeroes or any value you want.

Asked by heppner on 2015-06-06 08:29:34 UTC

Schunk_svh_driver: effort and velocity channel_targets?

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