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What is the default effort applied in case of Joint_effort_controller?

asked 2016-07-13 18:00:05 -0500

Abdullah gravatar image

updated 2018-06-22 05:52:51 -0500

destogl gravatar image

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

effort_controllers 1)joint_effort_controller 2) joint_position_controller 3) joint_velocity_controller

in case of (2) the joint_position_controller it seems that the default position is the position of the description of the robot. So if we select joint_effort_controller, 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?

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answered 2018-06-22 05:59:02 -0500

destogl gravatar image

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.

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Asked: 2016-07-13 18:00:05 -0500

Seen: 106 times

Last updated: Jun 22 '18