Gazebo | Ignition | Community
Ask Your Question

Possibility to switch control mode "on fly" in

asked 2013-11-06 06:09:31 -0500

Hi, Yesterday I was looking at the code of to understand how to switch from a position control to a velocity control or torque control. I start my simulation always in position control and when I switch to torque (simply sending a message to JointController that contains force) I have to set all the PID gains to 0 because if not I have to sum of the Position control and the forwarded torque. Is this the right way? I hope to have been clear, thank you,


edit retag flag offensive close merge delete

1 Answer

Sort by ยป oldest newest most voted

answered 2013-11-06 11:55:15 -0500

nkoenig gravatar image

I believe this issue captures your request.

edit flag offensive delete link more
Login/Signup to Answer

Question Tools


Asked: 2013-11-06 06:09:31 -0500

Seen: 232 times

Last updated: Nov 06 '13