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Note: This tutorial assumes that you have completed the previous tutorials: Starting the EtherCAT Hand.
(!) Please ask about problems and questions regarding this tutorial on answers.ros.org. Don't forget to include in your question the link to this page, the versions of your OS & ROS, and also add appropriate tags.

Starting a set of Controllers

Description: How do we start a given set of controllers, to move the joint by controlling their positions, their velocity, or the forces applied.

Tutorial Level: BEGINNER

Overview

You need to start a set of controllers to be able to follow a target (which can be a target for the position / velocity / effort / ...) with the joints.

Different controllers are available, for more information on what they do and how they work, please refer to the sr_edc_mechanism_controllers wiki page.

Starting a set of controllers

You can start a set of controllers by using the provided launch files:

$ roslaunch sr_edc_launch sr_edc_position_controllers.launch

You can use any of the following launch files:

The parameters for the controllers are loaded from the yaml file contained in the sr_edc_controller_configuration package.


2019-11-16 13:22