Cartesian Twist Controller


The Cartesian Twist Controller commands a desired twist to a chain of joints. The chain of joints is a set of joints that spans from some link (the "root" link) to another link (the "tip" link). The twists are applied at the origin of the tip link in the frame of the root link, and are controlled by PID controllers. Translational and rotational gains are set separately.


Subscribed Topics

command (geometry_msgs/Twist)
  • The twist to command


root_name (string, default: Required)
  • The root link of the chain of joints
tip_name (string, default: Required)
  • The tip link of the chain of joints
fb_trans/p (double, default: Required)
  • Translational gain, relating force to velocity error
fb_trans/d (double, default: 0.0)
  • Translational derivative gain
fb_trans/i (double, default: 0.0)
  • Translational integral gain
fb_trans/i_clamp (double, default: 0.0)
  • Bounds enforced on the translational integral windup
fb_rot/p (double, default: Required)
  • Rotational gain, relating end-effector torques to angular velocity error
fb_rot/d (double, default: 0.0)
  • Rotational derivative gain
fb_rot/i (double, default: 0.0)
  • Rotational integral gain
fb_rot/i_clamp (double, default: 0.0)
  • Bounds enforced on the rotational integral windup

Example configuration

  type: CartesianTwistController
  root_name: torso_lift_link
  tip_name: r_wrist_roll_link
    p: 20.0
    i: 0.5
    d: 0.0
    i_clamp: 1.0
    p: 0.5
    i: 0.1
    d: 0.0
    i_clamp: 0.2

Wiki: robot_mechanism_controllers/CartesianTwistController (last edited 2011-08-29 10:55:04 by Luis Roalter)