PID controller making use of the Message type sensor_msgs/JointState

asked 2015-05-23 03:55:28 -0500

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updated 2015-05-23 06:02:42 -0500

Hi guys I am looking for at PID controller which is capable of understand the message type sensor_msgs/JointState. As far i can see those which are available uses a custom message type, but none which uses the sensor_msg/JointState .. Do any of you know one??

I've looked into some, and http://wiki.ros.org/pid and seems to be what I am looking with the exception of the message type being not the one i want.. Somebody who are able to convert it?

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answered 2015-05-24 20:05:14 -0500

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Wikipedia already provides pseudo code..

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answered 2015-05-25 03:00:53 -0500

Adolfo Rodriguez T

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I don't know of any open implementation, but if you can tolerate the added latency of one additional hop though a ros node, you can write a very simple forwarding node that subscribes to a sensor_msgs/JointState topic, and publishes to the ROS interface of whatever controller you have otherwise found suitable.

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PID controller making use of the Message type sensor_msgs/JointState

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