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Schunk_svh_driver: effort and velocity channel_targets?

asked 2015-05-05 09:14:00 -0500

Alba gravatar image

The file quick_commands shows how to set channel_targets:

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"?

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answered 2015-06-06 08:29:34 -0500

heppner gravatar image

updated 2015-06-06 08:30:29 -0500


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.

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Asked: 2015-05-05 09:14:00 -0500

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Last updated: Jun 06 '15