ROS2 Position Controller via Effort Output
In foxy, I am trying to control the position of a revolute joint by applying effort (torque) to the joint in a Gazebo simulation.
I believe currently I have a controller that takes what it considers to be a desired effort and drives the joint to the maximal allowed position specified in the URDF at which point it continues applying the same effort that got it to that position.
I based my work on the cart effort example from gazebo_ros2_control_demos
https://github.com/ros-simulation/gaz...
In ROS2 Control, is there an equivalent to the ROS controller listed here under effort_controllers/joint_position_controller? http://wiki.ros.org/ros_control#Contr...
The only effort controller I can seem to find in ROS2 is JointGroupEffortController. Can JointGroupEffortController take a position and use an effort applied to joint to achieve it, namely in a Gazebo simulation? Are there any examples of this?
Hello, I'm having the same problem right now, did u manage to find an answer ?
Not really, had to implement the PID myself in C++ application and use apply a "desired effort" to a controller. Algorithm was read position, then apply a torque depending on positional error and PID calculation