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Set Position of Joint using C++ API

asked 2019-12-18 02:53:37 -0500

Gaurav gravatar image

updated 2019-12-18 03:17:06 -0500

How to set position of joint using C++ API ? I found, joint->SetPosition(index, position/angle);

But, is there any other efficient way/function to set position of joint ?

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answered 2020-01-08 12:14:25 -0500

eaucone gravatar image

You may write a controller using ros_control plugin and define an effort or position controller. You will have the possibility to set up the parameters of your controller (e.g. PID gains) so you will control the parameters regarding the convergence to the desired value for your joint.

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Asked: 2019-12-18 02:53:37 -0500

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Last updated: Jan 08 '20