controlling joint efforts by arbitrary algorithm

asked 2016-07-08 12:03:11 -0500

klaatu gravatar image

updated 2016-07-13 16:33:38 -0500

How should a node publish to set a robot's joints' efforts (torques)?

What topic and plugin?

(I know I can subscribe to topic 'joint_states,' published by plugin 'joint_state_publisher.')

I've successfully used ros_control's PID configuration to control joint position.

But, how could I replace the PID with, say, a neural network?

Thanks.

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