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controller_interface frequency rate

asked 2015-12-10 06:47:39 -0600

gpldecha gravatar image

I have been using the ros_control interface to implement a position controller to use both in Simulation (Gazebo) and on a real robot. My implementation inherits from control_base.h and I implement hardware_interface::PositionJointInterface.

My problem is that I would like to know the frequency of the update rate (base class code shown below) such to perform interpolation between desired and target joint positions such to follow a desired velocity.

 /// Calls \ref update only if this controller is running.
 void updateRequest(const ros::Time& time, const ros::Duration& period)
{
if (state_ == RUNNING)
  update(time, period);
 }

Is there a method that gives me back the update rate of this function (above). Is it in the Time and Duration variables ? I have so fare failed to find a good tutorial which explains in detail the usage of control_base.h etc.. any pointers would be welcome.

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I may be misunderstanding you, but isn't period the inverse of what you are asking?

gvdhoorn gravatar imagegvdhoorn ( 2015-12-10 07:44:47 -0600 )edit

yes, it is have just figured it out.. was not use to using ros::time and ros::Duration

gpldecha gravatar imagegpldecha ( 2015-12-10 08:15:26 -0600 )edit

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answered 2015-12-10 08:17:12 -0600

gpldecha gravatar image

Simply can get the frequency by doing period.toSec();

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Asked: 2015-12-10 06:47:39 -0600

Seen: 76 times

Last updated: Dec 10 '15