ros_controllers

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Hi Guys,

Thanks for this framework! We are working on getting our robot to work with the use of ROS control and ethercat.

• https://github.com/tue-robotics/sergio_control (Interface with ROS control)
• https://github.com/tue-robotics/ethercat_interface/ (Ethercat interfacing)

We read encoder values and apply torques on the motor. We currently have a closed loop control running using the effort_controllers/JointPositionController.

However, we do have relative encoders. So we need to null the encoders using end-stop homing, absolute encoders or other sensors. How do you usually solve this?

Thanks,

Hiya!

At the moment this is done off-ros_control or as part of a custom RobotHW implementation. I have some plans to add support for this soon, if all goes well I'll be able to dedicate some time to adding this feature. If you guys are interested I can make sure to add you to design and code review discussions.

On Wed, Apr 25, 2018, 20:19 Rein Appeldoorn [email protected] wrote:

Hi Guys,

Thanks for this framework! We are working on getting our robot to work with the use of ROS control and ethercat.

• https://github.com/tue-robotics/sergio_control (Interface with ROS control)
• https://github.com/tue-robotics/ethercat_interface/ (Ethercat interfacing)

We read encoder values and torques on the motor. We currently have a closed loop control running using the effort_controllers/JointPositionController https://github.com/ros-controls/ros_controllers/blob/kinetic-devel/effort_controllers/src/joint_position_controller.cpp .

However, we do have relative encoders. So we need to null the encoders using end-stop homing, absolute encoders or other sensors. How do you usually solve this?

Thanks,

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Thanks for your response. We are definitely interested! What are your first thought on where to add this? The current transmissions do have support for offsets, however, we can not set these offsets on runtime. What about adding setters to these classes; for example here: https://github.com/ros-controls/ros_control/blob/melodic-devel/transmission_interface/include/transmission_interface/differential_transmission.h#L195