Cartesian Wrench Controller
Contents
Overview
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.
ROS API
Subscribed Topics
command (geometry_msgs/Wrench)- The wrench to command
Parameters
root_link (string, default: Required)- The root link of the chain of joints
- The tip link of the chain of joints
Example configuration:
r_arm_cartesian_wrench_controller: type: CartesianWrenchController root_name: torso_lift_link tip_name: r_wrist_roll_link
