ros_control - Velocity profile for position commands
Hello. I have brushless DC motors and the protocol that I use needs inputs of both speed and the position of the actuator. For example suppose I wish to move from 30 degrees to 60 degrees with a speed of 0.5 rad/s I can simply input that in my control protocol: [speed = 0.5, angle = 60degrees]. The good thing about this is that it allows you to change the speed in a 'for loop' if for example you would wish to slow down when you had reached 45 degrees and speed up again after 50 degrees. This is necessary if one wishes to generate velocity profiles (which I do).
However the JointPositionController always uses MaxSpeed and not a speed that I can change after having launched my Gazebo model. Does anyone know how to solve this issue? I would really like to avoid having to interpolate in my python scripts.
Hope someone can help. Thanks
