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How to control a joint with position and velocity using ros_control ?

asked 2017-05-17 06:27:00 -0500

msabur gravatar image

updated 2017-05-17 12:32:28 -0500

Right now I have postion controllers for all of my joints. I can set every joint to the position I want and It takes the velocity limit into account. But I can't get it to move slower then the limit. Im trying to move my robot to a position with a certain speed (less then limit). I tried something with safely limits and the combination of position and velocity controllers. I have also tried the trajectory controller but since I don't want to set a completion time, it didn't come to use to me.

My guess is that the solution should be fairly simple but cant see it atm... Any help is welcome! Thanks! Btw I need to do this without MoveIt unfortunately and I'm using latest ROS Kinetic.

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answered 2017-05-17 14:40:06 -0500

Dave Coleman gravatar image

If you are using a position controller, it will move to the commanded position as fast as possible (max velocity). If you want it to move slower than that, you can 1) set the velocity limit to be lower, 2) send incremental position commands that will ensure it arrives at the speed you want, or 3) use the velocity controller instead.

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Thank you so much!

msabur gravatar image msabur  ( 2017-05-17 14:42:41 -0500 )edit

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Asked: 2017-05-17 06:18:54 -0500

Seen: 1,105 times

Last updated: May 17 '17