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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:

• position_controllers

• velocity_controllers

• effort_controllers

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.

forward_command_controllermulti_interface_forward_command_controller

joints (string_array)

Name of the joints to control

Read only: True

Constraints:

• parameter is not empty

interface_name (string)

Name of the interface to command

Read only: True

Constraints:

• parameter is not empty