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What is the default effort applied in case of Joint_effort_controller?

I saw in a web forum that there are three options for effort_controllers

effortcontrollers 1)jointeffortcontroller 2) jointpositioncontroller 3) jointvelocity_controller

in case of (2) the jointpositioncontroller it seems that the default position is the position of the description of the robot. So if we select jointeffortcontroller, what would the default effort that will be applied to the joints and , is it possible to specify these initial controller inputs in the launch files?

Asked by Abdullah on 2016-07-13 18:00:05 UTC

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The joint_position_controller has sets current robot position as reference in starting function because one doesn't want robot to move when controller is started.

For the effort one sets in starting function effort to 0 because also one doesn't want robot to move. This would be possible to change by adding parameter where you can set start effort. For that one would inherit JointEffortController and adapt init and starting functions to support that.

Asked by destogl on 2018-06-22 05:59:02 UTC

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