| Note: This tutorial assumes that you have completed the previous tutorials: Starting the EtherCAT Hand. |
Starting a set of Controllers
Description: How do we start a given set of controllers, to move the joint by controlling their positions, their velocity, or the forces applied.Tutorial Level: BEGINNER
Contents
Overview
You need to start a set of controllers to be able to follow a target (which can be a target for the position / velocity / effort / ...) with the joints.
Different controllers are available, for more information on what they do and how they work, please refer to the sr_edc_mechanism_controllers wiki page.
Starting a set of controllers
You can start a set of controllers by using the provided launch files:
$ roslaunch sr_edc_launch sr_edc_position_controllers.launch
You can use any of the following launch files:
sr_edc_effort_controllers.launch
sr_edc_mixed_position_velocity_controllers.launch
sr_edc_position_controllers.launch
sr_edc_velocity_controllers.launch
The parameters for the controllers are loaded from the yaml file contained in the sr_edc_controller_configuration package.