Cartesian Wrench Controller
The Cartesian Wrench Controller commands a desired wrench to a chain of joints. The chain of joints is a set of joints that spans from some link (the "root" link) to another link (the "tip" link). The wrenches are applied at the origin of the tip link in the frame of the root link.
Subscribed Topicscommand (geometry_msgs/Wrench)
- The wrench to command
Parametersroot_link (string, default: Required)
- The root link of the chain of joints
- The tip link of the chain of joints
r_arm_cartesian_wrench_controller: type: CartesianWrenchController root_name: torso_lift_link tip_name: r_wrist_roll_link