ros_control: example RobotHW using RobotTransmissions

asked 2017-03-11 13:39:02 -0500

mrjogo gravatar image

Can someone point me to a good (full) example of a RobotHW subclass that uses TransmissionInterfaceLoader/RobotTransmissions to load transmission information from the URDF and read/write transformed data to/from some lower level hardware? I'm trying to reconcile these examples:

1. 2.

I'm getting hung up on what data structures store the pos/vel/effort data for read/write, and whether my class needs to set them up, or they're already present in RobotTransmissions.


edit retag flag offensive close merge delete