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This is a collection of controllers that work using the “effort” joint command interface but may accept different joint-level commands at the controller level, e.g. controlling the effort on a certain joint to achieve a set position.
The package contains the following controllers:
This is specialization of the forward_command_controller that works using the “effort” joint interface.
ROS 2 interface of the controller
- ~/commands (input topic) [std_msgs::msg::Float64MultiArray]
Joints’ effort commands
This controller overrides the interface parameter from forward_command_controller, and the
joints parameter is the only one that is required.
An example parameter file is given here
controller_manager: ros__parameters: update_rate: 100 # Hz effort_controller: type: effort_controllers/JointGroupEffortController effort_controller: ros__parameters: joints: - slider_to_cart