Cartesian Wrench Controller


The Cartesian Wrench Controller commands a desired wrench 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 wrenches are applied at the origin of the tip link in the frame of the root link.


Subscribed Topics

command (geometry_msgs/Wrench)
  • The wrench to command


root_link (string, default: Required)
  • The root link of the chain of joints
tip_link (string, default: Required)
  • The tip link of the chain of joints

Example configuration:

  type: CartesianWrenchController
  root_name: torso_lift_link
  tip_name: r_wrist_roll_link

Wiki: robot_mechanism_controllers/CartesianWrenchController (last edited 2010-01-08 01:49:38 by StuartGlaser)