ROS Resources: Documentation | Support | Discussion Forum | Index | Service Status | ros @ Robotics Stack Exchange
Ask Your Question

What does filter use for joint_trajectory_action_controller

asked 2013-06-03 08:09:29 -0500

AdrianPeng gravatar image

updated 2014-11-22 17:05:19 -0500

ngrennan gravatar image


I am reading joint_trajectory_action_controller.cpp in robot_mechanism_controllers. Following code is about output filter setup.

// Output filters
for (size_t i = 0; i < joints_.size(); ++i)
  std::string p = "output_filters/" + joints_[i]->joint_->name;
  if (node_.hasParam(p))
    output_filters_[i].reset(new filters::FilterChain<double>("double"));
    if (!output_filters_[i]->configure(node_.resolveName(p)))

What does filter use for the controller?

Thanks for any help in advance!

edit retag flag offensive close merge delete

1 Answer

Sort by ยป oldest newest most voted

answered 2013-06-03 22:01:30 -0500

Adolfo Rodriguez T gravatar image

You can (optionally) setup a filter chain for individual joints. Before control commands leave the controller, they go through the filter chain for post-processing. You can register any filter that complies with the FilterChain<double> interface. See the filters package for more information.

By default no filters are used.

edit flag offensive delete link more

Question Tools


Asked: 2013-06-03 08:09:29 -0500

Seen: 118 times

Last updated: Jun 03 '13