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Hi, I'm using ros_control c++ interface and JointStateHandle to update the motor feedback values. My question is about the units used in the parameters of the following line:
hardware_interface::JointStateHandle state_handle_1(right_joint, &pos_[0], &vel_[0], &eff_[0]);
I suppose that vel_ has the unit [rad/s]. But what unit does pos_ have? Is it [m] or [rad]?
This message type can describe both linear and rotary joints, so the units used will depend on the type of joint.
If it's a rotary joint the units are radians, radians per second, and Netwton metres.
If it's a linear joint the units are metres, metres per second, and Netwtons.
Hope this helps.
Asked: 2019-07-15 04:48:40 -0600
Seen: 250 times
Last updated: Jul 15 '19
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