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Cartesian Wrench Controller

Overview

The Cartesian Wrench Controller commands a desired wrench to a chain of joints. The chain of joints is a set of joints that spans from some link (the "root" link) to another link (the "tip" link). The wrenches are applied at the origin of the tip link in the frame of the root link.

ROS API

Subscribed Topics

command (geometry_msgs/Wrench)

Parameters

root_link (string, default: Required) tip_link (string, default: Required)

Example configuration:

r_arm_cartesian_wrench_controller:
  type: CartesianWrenchController
  root_name: torso_lift_link
  tip_name: r_wrist_roll_link

2019-08-24 13:11