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meaning of the value of the ros_control joint control command

asked 2019-05-21 08:51:45 -0500

anonymous user


updated 2019-05-21 13:11:47 -0500

jayess gravatar image

I just browsed this tutorial and successfully controlled the joints of the robot model in gazebo. However, I don't understand the meaning of the value in the command.

rostopic pub -1 /rrbot/joint1_position_controller/command std_msgs/Float64 "data: 1.5"

As the above command, what does the 1.5 stand for?

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answered 2019-05-21 10:43:36 -0500

The inputs to ros controllers are always in SI units, so a joint position controller will accept either radians if it's a revolute joint or meters if it's a linear joint. In order to work out which is it you'll need to look at the URDF file of the robot model to find out what type of joint is being controlled.

Hope this helps.

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jayess gravatar image jayess  ( 2019-05-21 13:13:49 -0500 )edit

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Asked: 2019-05-21 08:51:45 -0500

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Last updated: May 21 '19