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MingshanHe / Compliant-Control-and-Application

Compliant Control: 1) admittance control algorithm 2) impedance control algorithm 3) hybrid force&position algorithm in robotic arm (Universal Robot).
https://mingshanhe.github.io/Compliant-Control-and-Application/
MIT License
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话题topic_cart_pose_cmd似乎没有发布者 #26

Open quanfeifan opened 1 year ago

quanfeifan commented 1 year ago

https://github.com/MingshanHe/Compliant-Control-and-Application/blob/c8de3e5f24d49549092dee05406bf528f3fdf11e/control_algorithms/hybrid_position_force_control/src/hybrid_position_force_control.cpp#L37 这个话题似乎只有subscriber而没有publisher，所以下文中的cmd_pose_position_是如何得到？其用意是什么？

MingshanHe commented 1 year ago

通过终端发布话题，用意是位置控制，而不是力控制。