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Differences between Hardware Interfaces

asked 2015-05-21 00:48:43 -0500

nodge gravatar image

updated 2015-05-21 01:15:40 -0500

gvdhoorn gravatar image

Can someone please explain the differences between these Hardware Interfaces: Joint Command Interfaces

-Effort Joint Interface
-Velocity Joint Interface
-Position Joint Interface

Joint State Interfaces Actuator State Interfaces Actuator Command Interfaces

-Effort Actuator Interface -Velocity Actuator Interface -Position Actuator Interface

Force-torque sensor Interface IMU sensor Interface ?


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answered 2015-05-21 02:43:29 -0500

Adolfo Rodriguez T gravatar image
-Effort Joint Interface
-Velocity Joint Interface
-Position Joint Interface

From the respective class documentation, these interfaces allow reading state and commanding [effort|velocity|position]-based joints.

The same reasoning applies to the actuator-based interfaces. Actuators are connected to joints via mechanical transmissions, and you need to use them if you want ros_control to handle the mapping between joint and actuator spaces.

As to the force-torque and IMU interfaces, it's also in the docs. You can also browse the source and test suite if you need further insights or usage examples.

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@Adolfo Rodriguez T is it possible to work only in the joint space using just JointCommandInterface and JointStateInterface? For example when working with diff_drive_controller? When should we go with actuator-based interfaces? How does ROS define joint and actuator space?

fjp gravatar image fjp  ( 2020-03-12 09:52:15 -0500 )edit

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Asked: 2015-05-21 00:48:43 -0500

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Last updated: May 21 '15