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forward_command_controller

A selection of controllers that forward commands of different types.

forward_command_controller and multi_interface_forward_command_controller

Both controllers forward std_msgs::msg::Float64MultiArray to a set of interfaces, which can be parameterized as follows: While forward_command_controller/ForwardCommandController only claims a single interface type per joint (joint[i] + "/" + interface_name), the forward_command_controller/MultiInterfaceForwardCommandController claims the combination of all interfaces specified in the interface_names parameter (joint[i] + "/" + interface_names[j]).

Hardware interface type

This controller can be used for every type of command interface, not only limited to joints.

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

Read only: True

Constraints:

parameter is not empty

interface_name (string)
Name of the interface of the joint

Read only: True

Constraints:

parameter is not empty