Joint Position Controller

Overview

The Joint Position Controller commands a desired position to the joint. The position is controlled using PID control to specify the effort to the joint. When started, the controller will command to the current position.

The commands from the position controller will be constrained by the safety limits of the robot, so position commands near the joint limits may not be achieved.

ROS API

Subscribed Topics

• The position to command

Parameters

• The joint to control

• The proportional gain relating efforts to the error in position

• Derivative gain, relating efforts to velocity (derivative of position)

• Integral gain

• Bounds enforced on the integral windup

Example configuration:

elbow_flex_position_controller:
  type: JointPositionController
  joint: r_elbow_flex_joint
  pid:
    p: 100.0
    d: 10.0