Ask Your Question

How to control multiple joint controllers at the same time?

asked 2018-10-18 06:25:22 -0600

anonymous user


updated 2018-10-20 04:34:31 -0600

There are 8 joint controllers for my robot model, 4 of them belong to type effort_controllers/JointPositionController , and the rest of them belong to effort_controllers/JointVelocityController. Is there any method to adjust all the controllers that control the joints at the same time? It is better to have a graphic interface. Any opinion will be appreciated.

edit retag flag offensive close merge delete

1 Answer

Sort by ยป oldest newest most voted

answered 2020-11-18 16:47:48 -0600

rmmilner gravatar image

Assuming you have already set up the controllers through configuration yaml files and modified the urdf to add transmission interfaces then you can use rqt_gui to send commands to each controller.

Once you launch the robot with it's controllers then you can open the rqt gui with a new terminal using

rosrun rqt_gui rqt_gui

From here, there is a drop-down box to select the topic you would like to publish on, it should be something like effort_controllers/JointPositionController/command. Use the plus to add it to the list, modify the rate and expression you would like to publish and repeat for every controller.

edit flag offensive delete link more

Your Answer

Please start posting anonymously - your entry will be published after you log in or create a new account.

Add Answer

Question Tools



Asked: 2018-10-18 06:25:22 -0600

Seen: 216 times

Last updated: Oct 20 '18