ros_controllers

ros_controllers copied to clipboard

Velocity - Position Controller

1

I am trying to use the velocity controller on my 7 DOF robotic arm, however when starting the Gazebo simulation there is a drift in position and so the joints...

csal3

We need mobile base controllers

34

All, To make the ros_controll(ers) project appealing to a larger user base, we need to offer functionality needed by that user base, and controllers are a big part of that....

adolfo-rt

Joint position controller commands not getting through (permanently zero)

6

I am running a Gazebo simulation of a robot with 20 joints, each of which is being controlled by an effort_controllers::JointPositionController. Under ROS Indigo (Gazebo 2.x) everything works fine and...

pallgeuer

Joint trajectory controller interface

4

Hi all! I have hardware that controls by position and velocity together in one command. So i use my own JointHandle analog: ``` C++ class MyJointHandle : public hardware_interface::JointStateHandle {...

Igorec

controller state should include information about the integrator state

8

...otherwise it's not truly the state of the controller. Here is what I mean: https://github.com/PR2/pr2_controllers/pull/375

goretkin

Pulling out hardware_interface_adapter from joint_trajectory_controller into separate package?

5

We are looking into implementing some controllers of our own. For that, the approach taken in the `joint_trajectory_controller` package of providing a hardware interface adapter seems to be a good...

skohlbr

Fix testAngularJerkLimits on Travis

2

bmagyar

Trajectory controller with gravity compensation or variable static friction compensation

1

If gravity compensation (using KDL for example) or variable static friction is required, currently there is no way of adding the output of such compensator to the joint command. It...

VahidAminZ

Joint Trajectory Controller: acceleration data for Joint Handle?

3

_There's no acceleration data available in a joint handle_ (cf. [joint_trajectory_controller_impl.h](https://github.com/ros-controls/ros_controllers/blob/jade-devel/joint_trajectory_controller/include/joint_trajectory_controller/joint_trajectory_controller_impl.h#L411)). Is it at least scheduled or it does not worth the effort at the moment?

alextoind

Family of X_controllers/JointGroupYController using PIDs

5

Greetings fellow ros-controllers, I was wondering if there is interest in having grouped controllers that plug to type _X_ joint interfaces while accepting commands for type _Y_ joint interfaces. These...

bmagyar