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ArbotiX Follow Joint Trajectory Controller

This module is part of the arbotix_python package.

Module Overview

The follow_controller enables control of several servos using a control_msgs/FollowJointTrajectryAction interface. This is the action-based interface that arm_navigation requires.

Parameters

~controllers/<name>/rate (int, default: 50.0)

• Rate of interpolation when done onboard.

~controllers/<name>/joints (list of strings)

• The names of joints to control.

~controllers/<name>/index (int)

• Index of onboard controller to use (automatically incremented as controllers are added, most users won't have to set this).

~controllers/<name>/onboard (bool, default: True)

• Enable/disable the use of onboard interpolation. This must be set to False if using a USB2Dynamixel.

~controllers/<name>/action_name (string, default: follow_joint_trajectory.)

• Name of the action-based control to expose.

YAML Configuration

ArbotiX-ROS based robots are typically configured through a YAML configuration file. A typical configuration file that includes a follow controller might be:

port: /dev/ttyUSB0
dynamixels: {
    pan_joint: {id: 1},
    lift_joint: {id: 2}
}
controllers: {
    arm_controller: {type: follow_controller, joints: [pan_joint, lift_joint] },
}