search

ros-simulation / gazebo_ros_demos

Example robots and code for interfacing Gazebo with ROS
347 stars 225 forks source link

Plz explain Joint_Position_Controller/state parameters #23

Closed kshfire closed 7 years ago

kshfire commented 7 years ago

In the Joint_Position_Controller/state , there are several parameters but, it looks like strange when I ran your "gazebo_ros_demo" code.

I tried to find meaning of each parameter, but there is no comment about it. (Even ros wiki) So, I'd appreciate if you will explain meaning of following parameters.

set_point process_value process_value_dot error command

Using your gazebo_ros_demos (rrbot), I found that set_point != command . Why? what are the command and set_point?

Process_value is also something strange. Is it joint angle of the joint ? command/data was not same to state/process_value, unlike gazebo's ros control tutorial. (It were totally different each other ;;)

I'd appreciate if you explain each parameter with block diagram.

tfoote commented 7 years ago

Please ask questions on http://answers.ros.org according to our support policy: http://wiki.ros.org/Support We try to keep the issue tracker reserved for bugs and feature developments.