= Joint Effort Controller =

<<TableOfContents(3)>>

== Overview ==

The Joint Effort Controller commands a desired effort (force/torque) to the joint.

== ROS API ==

{{{
#!clearsilver CS/NodeAPI
param {
  0.name=joint
  0.type=string
  0.default=Required
  0.desc=The joint to control
}
sub {
  0.name=command
  0.type=std_msgs/Float64
  0.desc=The effort to command
}
}}}

Example configuration:

{{{#!yaml
elbow_flex_effort_controller:
  type: JointEffortController
  joint: r_elbow_flex_joint
}}}