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rqt_joint_trajectory_controller

The rqt_joint_trajectory_controller provides an intuitive graphical way to test different joint positions and trajectories without having to manually construct complex trajectory messages or use command line interfaces.

rqt_joint_trajectory_controller

The interface allows you to:

  • Select the controller manager namespace and controller from dropdown menus.

  • Adjust target positions for joints (joint1 and joint2) using interactive sliders.

  • Fine-tune joint positions with precise numerical inputs.

  • Control the motion speed using the speed scaling slider.

  • Activate the trajectory execution with the central power button.

  • Visualize current joint configurations in real-time.