How to choose right set of controllers and controller interface for the gazebo robot model ?

asked 2019-08-02 02:07:05 -0500

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I have developed an 8 legged robot similar to a spider on gazebo. For the same, I have also developed an algorithm to control its locomotion. When I tried to run the algorithm with the robot, the robot does not respond to the joint configurations published by the talker/publisher. Now I am wondering whether the controller interface and controllers set I have choosen were wrong.

can anyone explain me how to choose the right controller interface for the application ? I intend to control the robot by publishing the joint configurations through position_controllers from JointPositionController ? how to choose between effort_controllers/JointTrajectoryController and position_controllers/JointPositionController or anyother suitable controllers ? I have gone through the documentation of these controllers but could not make up how to decide against one another. Can anyone please help me with this. Thanks in advance

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