ros_controllers_extensions

extensions for ros_controllers

empty_controller package

empty_controller/EmptyController

• controller which does completely nothing
• useful when notifing hardware to something by just swithing to this controller

posvel_controllers package

posvel_controllers/JointPosVelController

Subscribed topics

<controller_namespace>/command (std_msgs/Float64MultiArray)

• must have exactly 2 data elements
• data[0] & data[1] correspond position & velocity commands
• layout will be ignored
• subscribed when separete_command is false

<controller_namespace>/pos_command (std_msgs/Float64)

• subscribed when separete_command is true

<controller_namespace>/vel_command (std_msgs/Float64)

• subscribed when separete_command is true

Parameters

<controller_namespace>/joint (string, required)

• joint name to be managed by the controller

<controller_namespace>/separate_command (bool, default: true)

• if true, position & velocity commands are separately subscribed

posveleff_controllers package

posveleff_controllers/JointPosVelEffController

Subscribed topics

<controller_namespace>/command (std_msgs/Float64MultiArray)

• must have exactly 3 data elements
• data[0], data[1] & data[2] correspond position, velocity & effort commands
• layout will be ignored
• subscribed when separete_command is false

<controller_namespace>/pos_command (std_msgs/Float64)

• subscribed when separete_command is true

<controller_namespace>/vel_command (std_msgs/Float64)

• subscribed when separete_command is true

<controller_namespace>/eff_command (std_msgs/Float64)

• subscribed when separete_command is true

Parameters

<controller_namespace>/joint (string, required)

• joint name to be managed by the controller

<controller_namespace>/separate_command (bool, default: true)

• if true, position, velocity & effort commands are separately subscribed