asked 2020-03-05 09:03:07 -0500

Hugo gravatar image

Hi everyone,

I am trying to implement a series elastic actuator (SEA) with ros_control. I have tried to implement 2 joints in series (one with the actuation and the other with the spring stiffness), but to control it correctly I need to read the difference angle between these two joints.

Is there a way to input two control variables in ros_control?

Thanks in advance.

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Without knowing anything about what you've already tried: you should be able to claim two joints from a single controller. So yes, you should be able to "read the difference angle between [..] two joints" (or at least: calculate it).

gvdhoorn gravatar image gvdhoorn  ( 2020-03-05 09:10:04 -0500 )edit