Klaus's profile - activity

Ah ok, now I see the point: I need to create a kind of container thread that runs the controller manager and manages the communication with my hardware. Then I need to copy the transmitted actuator commands (from the controller) into commands for my hardware manually within the container thread. Took me a while to realize that. Might be nice to have some kind of overview diagram for that in the documentation.

Ah ok, now I see the point: I need to create a kind of container thread that runs the controller manager and manages the communication with my hardware. Then I need to copy the transmitted actuator commands (from the controller) into commands for my hardware manually within the container thread. Took me a while to realize that. Might be nice to have some kind of overview diagram for that in the documentation.

Cool, thanks! I was looking into the ethercat nodes before, but didn't really find the point where the data is actually transmitted to the mcu boards. Anyway, will check the Gazebo nodes. Interesting point what you said about sending the full joint position error. I thought in case of PR2 motor control would be outsourced to mcu level as well. But come to think of it, it is more flexible to keep the actual control centralized within the control computer to be more flexible when it comes to trying new controlers etc.

Hi Francois,

How is the _effort variable within ActuatorCommand transmitted to the hardware? If I look at the code of the existing controllers, I only see this variable being written, but can't find the point where the information is actually used. Is this located somewhere inside the controller manager?

Cheers, Klaus