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Joint Velocity Controller

Overview

The Joint Velocity Controller commands a desired velocity to the joint. The velocity is controlled using PID control to specify the effort to the joint. When started, the controller will command a velocity of zero.

The commands from the velocity controller will be subject to the safety limits of the robot, so the velocity will not be achieved near the joint limits.

ROS API

Subscribed Topics

command (std_msgs/Float64)

Parameters

joint (string, default: Required) pid/p (double, default: Required) pid/d (double, default: 0.0) pid/i (double, default: 0.0) pid/i_clamp (double, default: 0.0)

Example configuration:

elbow_flex_velocity_controller:
  type: JointVelocityController
  joint: r_elbow_flex_joint
  pid:
    p: 5.0
    i: 20.0
    i_clamp: 100.0

2019-08-17 13:08