Open mazaaa opened 8 years ago
As far as I know, no one has done this before. Therefore, I don't have any suggestions for you, beside looking at the ros-control tutorials and refactor the youbot_driver_ros_interface accordingly.
And yes, the effort controllers use the parameters from the URDF files, e.g. damping, friction, effort limits, velocity limits and so on.
Hi everyone,
is it possible to use the arm controller which is integrated into gazebo and set up for the youbot in this simulation (effort_controllers/JointTrajectoryController) for the real robot? To achieve this, I guess I have to change the youbot_driver_ros_interface, so that FollowJointTrajectory commands get to the controller and the controller's output gets to the youbot_driver_ros_interface. Has anyone done this before?
This is the only tutorial I've found regarding this issue : https://github.com/ros-controls/ros_control/wiki/hardware_interface
Unfortunately, I can't figure out how to do this with the youbot_interface. Especially how to change the interface in a way that it does not receive the FollowJointTrajectory commands directly.
And I have one more question: Does the effort_controllers/JointTrajectoryController use the URDF file to build a dynamic model of the youbot to transform position/velocity/acceleration trajectories into torque/effort commands?
Any help would be much appreciated.