Multiple types in the same Joint Trajectory controller

asked 2016-12-16 10:43:57 -0600

elsp1991 gravatar image

Hello Guys I just convert my controller.yaml to utilize the Joint Trajectory controller for using it in a 3-dof manipulator. My system is fully compatible with ros_control abstraction format (using the RobotHW class).

The problem that I am facing is that shoulder and elbow joints exposes effortCommand but wrist is a hobby servo so it exposes a PositionCommand. So my initial thought was to do something like that

controller_list:
  left_manipulator_trajectory_controller
    type: effort_controllers/JointTrajectoryController
    joints:
      - left_shoulder
      - left_elbow
    gains: # Required because we're controlling an effort interface
      left_shoulder: {p: 1,  d: 1, i: 1, i_clamp: 1}
      left_elbow: {p: 1,  d: 1, i: 1, i_clamp: 1}
    type: position_controllers/JointTrajectoryController
    joints:
      - left_wrist

This file throw no error but parses only the position joint. And if I remove the left_wrist the trajectory controller parses the effort joints. Is there any valid syntax to combine types in the same controller instance

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