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ros control effort controllers explained?

Hi everyone,

I am trying to model the response of my robot in gazebo. My gazebo is really based around its torque, it is a logistics robot. I am currently using the following for control:

left_controller:
  type: "velocity_controllers/JointGroupVelocityController"
  joints: ['front_left_wheel', 'center_left_wheel', 'rear_left_wheel']

right_controller:
  type: "velocity_controllers/JointGroupVelocityController"
  joints: ['front_right_wheel', 'center_right_wheel', 'rear_right_wheel']

However upon further investigation I believe I have chosen to control velocity irregardless of motor torque. So my qustion is, do the effort controllers control torque? if so, can I set a maximum torque for the controllers and control them with velocity commands? I have done some research and believe that is known as an effort velocity controller?

I cannot find any use cases for this, can anyone provide a link to a use case?

thanks, Grant.

ros control effort controllers explained?

Hi everyone,

I am trying to model the response of my robot in gazebo. My gazebo is really based around its torque, it is a logistics robot. I am currently using the following for control:

left_controller:
  type: "velocity_controllers/JointGroupVelocityController"
  joints: ['front_left_wheel', 'center_left_wheel', 'rear_left_wheel']

right_controller:
  type: "velocity_controllers/JointGroupVelocityController"
  joints: ['front_right_wheel', 'center_right_wheel', 'rear_right_wheel']

However upon further investigation I believe I have chosen to control velocity irregardless of motor torque. So my qustion question is, do the effort controllers control torque? if so, can I set a maximum torque for the controllers and control them with velocity commands? I have done some research and believe that is known as an effort velocity controller?

I cannot find any use cases for this, can anyone provide a link to a use case?

If I instead control the joints through effort, what unit is that? is it torque? (Nm)?

thanks, Grant.

ros control effort controllers explained?

Hi everyone,

I am trying to model the response of my robot in gazebo. My gazebo is really based around its torque, it is a logistics robot. I am currently using the following for control:

left_controller:
  type: "velocity_controllers/JointGroupVelocityController"
  joints: ['front_left_wheel', 'center_left_wheel', 'rear_left_wheel']

right_controller:
  type: "velocity_controllers/JointGroupVelocityController"
  joints: ['front_right_wheel', 'center_right_wheel', 'rear_right_wheel']

However upon further investigation I believe I have chosen to control velocity irregardless of motor torque. So my question is, do the effort controllers control torque? if so, can I set a maximum torque for the controllers and control them with velocity commands? I have done some research and believe that is known as an effort velocity controller? Is it possible to specify the torque of a velocity joint controller (as I have used)?

I cannot find any use cases for this, can anyone provide a link to a use case?

If I instead control the joints through effort, what unit is that? is it torque? (Nm)?

thanks, Grant.

ros control effort controllers explained?

Hi everyone,

I am trying to model the response of my robot in gazebo. My gazebo is really based around its torque, it is a logistics robot. I am currently using the following for control:

left_controller:
  type: "velocity_controllers/JointGroupVelocityController"
  joints: ['front_left_wheel', 'center_left_wheel', 'rear_left_wheel']

right_controller:
  type: "velocity_controllers/JointGroupVelocityController"
  joints: ['front_right_wheel', 'center_right_wheel', 'rear_right_wheel']

However upon further investigation I believe I have chosen to control velocity irregardless regardless of motor torque. So my question is, do the effort controllers control torque? if so, can I set a maximum torque for the controllers and control them with velocity commands? I have done some research and believe that is known as an effort velocity controller? Is it possible to specify the torque of a velocity joint controller (as I have used)?

I cannot find any use cases for this, can anyone provide a link to a use case?

If I instead control the joints through effort, what unit is that? is it torque? (Nm)?

thanks, Grant.