multiple hardware interfaces on a single joint

asked 2020-11-13 05:47:38 -0600

Kwang gravatar image


I'm trying to implement a controller that can switch between torque control and position control based on user's needs. It seems to me that I need to assign multiple hardware interfaces to every single joint in urdf and spawn both position controller and effort controller during launch. But is that even allowed?

I also skimmed through the ros_controllers repository on github and it seems I can also use feedforward controller to achieve what I mentioned above. But I can't find any documentations or even questions posts related to that controller. For the controller, can I pass more than one command in the controller? And can I change the type of command during operation?

edit retag flag offensive close merge delete


+1 on this. Did you manage to find a solution?

mt gravatar image mt  ( 2021-03-04 05:06:35 -0600 )edit

+1 I am also interested in that question.

CoffeeKangaroo gravatar image CoffeeKangaroo  ( 2022-09-13 01:31:30 -0600 )edit