Theory for choosing controller type and hardware interface

asked 2018-10-15 02:20:58 -0500

kumpakri gravatar image

Is there any document or article that would explain what kind of motors should be modeled by which controller (effort_controller, position_controller, velocity_controller, ...) and hardware interface type (EffortJointInterface, PositionJointInterface, VelocityJointInterface, ...)?

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