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Joint with 2 controllers

asked Jun 15 '21

PGTKing gravatar image

updated Jun 15 '21

jayess gravatar image

Hi all, I have a joint that is controlled by a joint effort controller but I want to reset the joint with the joint position controller. Is this possible and how do it do it? this is my yaml file

rrbot:
  # Publish all joint states -----------------------------------
  joint_state_controller:
    type: joint_state_controller/JointStateController
    publish_rate: 50  

  # Position Controllers ---------------------------------------
  joint1_position_controller:
    type: effort_controllers/JointEffortController
    joint: joint1
    pid: {p: 100.0, i: 0.01, d: 10.0}
  joint2_position_controller:
    type: effort_controllers/JointEffortController
    joint: joint2
    pid: {p: 100.0, i: 0.01, d: 10.0}
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how do I switch between controllers? or send a position command to the effort controller?

PGTKing gravatar image PGTKing  ( Jun 15 '21 )edit

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answered Jun 16 '21

Alireza_msb gravatar image

@pregnantghettoteen I think this is what you are looking for: https://answers.ros.org/question/2590...

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Asked: Jun 15 '21

Seen: 99 times

Last updated: Jun 16 '21