rover_ik¶

`ik_joint_controller`¶

The rover_ik::IKJointController is a controller in ros_control that does inverse kinematics on a set of joints and feeds the result to a PID loop. A full usage example can be seen in rover_control.

Parameters¶

joints¶

This parameter is a list of joints to control, each one should provide an EffortJointInterface

gains¶

Each subparameter in this parameter corresponds to PID gains for a joints, for example:

gains:
   arm_base_to_post: {p: 7, i: 1, d: 0, i_clamp: 1}

This sets the gains for joint arm_base_to_post to P = 7, I = 1, D = 0 and I_Clamp = 1.

base_link and tip_link¶

This correspond to the links at each end of the joint chain, base being the start and tip being the end.

Topics & Services¶

controller_name/target¶

Controller listens on this topic for the target pose of the tip_link, as defined in the parameters. The coordinates for this pose are relative to the base_link. (testing required)

controller_name/request_position¶

This service can be called to return the current position of the arm as calculated via forward kinematics. Passing this back into target should cause no effect to the arm.