Contents
A Cartesian ROS-controller for commanding target twists to a robot.
This controller makes use of a TwistCommandInterface to set a user specified twist message as reference for robot control.
Configuration
A possible configuration looks like this:
1 twist_controller:
2 type: ros_controllers_cartesianlers/TwistController
3
4 # The controller uses this identifier to get the according command handle
5 # from the hardware interface.
6 frame_id: "endpoint_to_control"
7
8 joints:
9 - joint1
10 - joint2
11 - joint3
12 - joint4
13 - joint5
14 - joint6