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forward_command_controller
This is a base class implementing a feedforward controller. Specific implementations of this base class can be found in:
Hardware interface type
This controller can be used for every type of command interface.
ROS 2 interface of the controller
Topics
- ~/commands (input topic) [std_msgs::msg::Float64MultiArray]
Target joint commands
Parameters
This controller uses the generate_parameter_library to handle its parameters.
- joints (string_array)
Name of the joints to control
Default: {}
- interface_name (string)
Name of the interface to command
Default: “”
- joint (string)
Name of the joint to control
Default: “”
- interface_names (string_array)
Names of the interfaces to command
Default: {}