Joint Velocity Controller


The Joint Velocity Controller commands a desired velocity to the joint. The velocity is controlled using PID control to specify the effort to the joint. When started, the controller will command a velocity of zero.

The commands from the velocity controller will be subject to the safety limits of the robot, so the velocity will not be achieved near the joint limits.


Subscribed Topics

command (std_msgs/Float64)
  • The velocity to command


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

Example configuration:

  type: JointVelocityController
  joint: r_elbow_flex_joint
    p: 5.0
    i: 20.0
    i_clamp: 100.0

Wiki: robot_mechanism_controllers/JointVelocityController (last edited 2011-04-19 12:21:23 by HenningDeeken)