Joint Velocity Controller
The Joint Velocity Controller commands a desired velocity to the joint. The velocity is controlled using PID control to specify the effort to the joint. When started, the controller will command a velocity of zero.
The commands from the velocity controller will be subject to the safety limits of the robot, so the velocity will not be achieved near the joint limits.
Subscribed Topicscommand (std_msgs/Float64)
- The velocity to command
Parametersjoint (string, default: Required)
- The joint to control
- The proportional gain relating efforts to the error in velocity
- Derivative gain
- Integral gain
- Bounds enforced on the integral windup
elbow_flex_velocity_controller: type: JointVelocityController joint: r_elbow_flex_joint pid: p: 5.0 i: 20.0 i_clamp: 100.0