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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


~/commands (input topic) [std_msgs::msg::Float64MultiArray]

Target joint commands


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: “”