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controlling joint efforts by arbitrary algorithm

I'd like to use a non-PID control algorithm (requires five input variables) to compute and apply three joint efforts (torques), and monitor the joint angles for feedback.

Is there a way to modify the ros_controls yaml file to accomplish this? Or can I not get there from here? Thanks.

controlling joint efforts by arbitrary algorithm

I'd like to use a non-PID control algorithm (requires five input variables) to compute and apply three joint efforts (torques), and monitor the joint angles for feedback.

Is there a way to modify the ros_controls yaml file to accomplish this? Or can I not get there from here? here?

From a node, I can subscribe to get joint positions from joint_state_publisher, but how would I set joints' efforts? Via transmission elements, somehow? Via what topic?

Thanks.

controlling joint efforts by arbitrary algorithm

I'd like How should a node publish to use set a non-PID control algorithm (requires five input variables) to compute and apply three joint robot's joints' efforts (torques), and monitor the joint angles for feedback. (torques)?

Is there a way to modify the ros_controls yaml file to accomplish this? Or can I not get there from here?What topic and plugin?

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

I've successfully used ros_control's PID configuration to control joint positions from joint_state_publisher, but position.

But, how would could I set joints' efforts? Via transmission elements, somehow? Via what topic?replace the PID with, say, a neural network?

Thanks.

Thanks.

controlling joint efforts by arbitrary algorithm

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.

Thanks.