How to add Joint Velocity Controller
I am using Universal Robotics ROS for MoveiIt Servoing, However it is recommended to use JointGroupVelocityController or a JointGroupPositionController for MoveIt Servoing. I used the follwoing command to find out the available controllers
rosservice call /controller_manager/list_controllers
controller:
-
name: "joint_group_eff_controller"
state: "initialized"
type: "effort_controllers/JointGroupEffortController"
claimed_resources:
-
hardware_interface: "hardware_interface::EffortJointInterface"
resources:
- elbow_joint
- shoulder_lift_joint
- shoulder_pan_joint
- wrist_1_joint
- wrist_2_joint
- wrist_3_joint
-
name: "joint_state_controller"
state: "running"
type: "joint_state_controller/JointStateController"
claimed_resources:
-
hardware_interface: "hardware_interface::JointStateInterface"
resources: []
-
name: "eff_joint_traj_controller"
state: "running"
type: "effort_controllers/JointTrajectoryController"
claimed_resources:
-
hardware_interface: "hardware_interface::EffortJointInterface"
resources:
- elbow_joint
- shoulder_lift_joint
- shoulder_pan_joint
- wrist_1_joint
- wrist_2_joint
- wrist_3_joint
How can I add JointGroupVelocityController to the UR robot.
Asked by akumar3.1428 on 2022-11-29 15:11:29 UTC
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