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2015-12-01 16:11:52 -0500 | asked a question | [ros_control] VelocityJointInterface with an actuator with no sensor feedback This question is related to I'm working on a platform having an actuator with an embedded controller. The only thing I can do is to send a velocity command and trust the controller, I can not read the current position or velocity.
The first option was to make a dummy storage for position and effort (which will never be updated). It works fine for me but it'll malfunction if I use some controllers that assume those fields are correctly updated and use them, like PID controllers. The second one is to write a new interface but I don't think it's a right way to do it since it hurts 'abstraction'. Is there any way to disable some fields or mark them as 'N/A' without adding a new interface? |