Joint Position Controller


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.


Subscribed Topics

command (std_msgs/Float64)
  • The position to command


joint (string, default: Required)
  • The joint to control
pid/p (double, default: Required)
  • The proportional gain relating efforts to the error in position
pid/d (double, default: 0.0)
  • Derivative gain, relating efforts to velocity (derivative of position)
pid/i (double, default: 0.0)
  • Integral gain
pid/i_clamp (double, default: 0.0)
  • Bounds enforced on the integral windup

Example configuration:

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

Wiki: robot_mechanism_controllers/JointPositionController (last edited 2011-04-19 12:17:04 by HenningDeeken)