Differences
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| Both sides previous revisionPrevious revisionNext revision | Previous revisionNext revisionBoth sides next revision |
| ros [2019/07/05 09:00] – [ROS Configuration] ddecoeyer | ros [2019/07/08 14:54] – [Create the Robot Hardware Abstraction] ddecoeyer |
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| {{roscontrol.png}} | {{roscontrol.png}} |
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| This image is from the follow presentation. | This image is from the following presentation. |
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| * [[http://roscon.ros.org/2014/wp-content/uploads/2014/07/ros_control_an_overview.pdf|Slides ros_control_an_overview]] | * [[http://roscon.ros.org/2014/wp-content/uploads/2014/07/ros_control_an_overview.pdf|Slides ros_control_an_overview]] |
| </code> | </code> |
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| There are several things to care in this file. First in the MYROBOT Constructor, you can notice the **"MYJOINT"**, it's there that we point out witch joint is connect to witch hardware interfaces. Furthermore, always in the MYROBOT Constructor, you have **jnt_state_interface** and **jnt_vel_interface**. The first one is there to give to controllers the states of MYJOINT. The Second one is there to get back the velocity command send by the controller. One should note that the joint name and the hardware interface type should be the same as describe in your transmission element in MYROBOT.xacro. [[https://github.com/ros-controls/ros_control/wiki|For more informations]]. | There are several things to care in this file. First in the MYROBOT Constructor, you can notice the **"MYJOINT"**, it's there that we point out witch joint is connected to witch hardware interfaces. Furthermore, always in the MYROBOT Constructor, you have **jnt_state_interface** and **jnt_vel_interface**. The first one is there to give to controllers the states of MYJOINT. The Second one is there to get back the velocity command send by the controller. One should note that the joint name and the hardware interface type should be the same as describe in your transmission element in MYROBOT.xacro. [[https://github.com/ros-controls/ros_control/wiki|For more informations]]. |
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| ==== Choose a controller ==== | ==== Choose a controller ==== |
