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JointController: Does the PID calculate torque to apply to joint?

What exactly is does a gazebo::physics::JointController do to control the joint position/velocity?

I can see from the API documentation that you can set up a PID controller within the JointController, and you can ultimately specify P/I/D gains and min/max control effort. However, I'm not sure what the "control effort" is that is calculated by the PID controller inside of the JointController. Is it the force/torque applied to the joint?

On another note, I see no way in the documentation to specify which axis of the joint you want to control using a JointController. What happens if you are using a revolute2 joint with two axes?