search

officinerobotiche / ros_orbus_interface

Interface to control all board with orbus. uNav, RoboController, Motion Controller, ...
http://www.officinerobotiche.it
5 stars 4 forks source link

Open topic to direct drive joint #17

Closed rbonghi closed 9 years ago

rbonghi commented 9 years ago

This code do not have topic to send or receive position/velocity/torque to motor.

We should add new topic to control single joint.

Myzhar commented 9 years ago

Position control requires an absolute encoder or at least an "homing" procedure with a fixed zero point. Furthermore we need to use an encoder with "index" signal and we need to handle that signal.

rbonghi commented 9 years ago

yes! The control position is a future work, but I think to add a velocity joint topic to control a single motor.

About "homing" procedure I'm sure with your issue. :smile:

2015-04-20 21:28 GMT+02:00 Walter Lucetti notifications@github.com:

Position control requires an absolute encoder or at least an "homing" procedure with a fixed zero point. Furthermore we need to use an encoder with "index" signal and we need to handle that signal.

— Reply to this email directly or view it on GitHub https://github.com/officinerobotiche/ros_serial_bridge/issues/17#issuecomment-94547393 .

rbonghi commented 9 years ago

Solved in branch #20