根据提供的信息,如果velocity_controllers/JointVelocityController类型的控制器不存在,可能是因为相应的ROS包没有安装。 您需要根据您的ROS发行版(如Kinetic、Noetic等)来安装缺失的包。例如,对于Noetic发行版,您可以使用以下命令安装: bash sudo apt-get install ros-noetic-velocity-controllers 安装完成后,重新加载或...
2.查找到sdf中所有的joint_name,存储到自己一个名为jointNames的vector里 3.查找sdf中的initial_velocity并设置 4.查找sdf中use_force_commands,如果有,就设置PID的一系列参数,具体参数可以去看http://JointController.cc文件 5.查找sdf中use_actuator_msg,如果有的话就设置actuator_number 6.设置订阅话题,默认是/...
配置launch文件 <rosparam file="$(find slam_sensor_sim_gazebo)/config/rotate_control.yaml"command="load"/><node name="controller_manager"pkg="controller_manager"type="spawner"respawn="false"output="screen"ns="/rotate_platform"args="joint_state_controller rotate_velocity_controller --shutdown-time...
};///外部控制循环boolmotion_finished =false; auto active_control= robot.startJointVelocityControl(//开启关节速度运动research_interface::robot::Move::ControllerMode::kJointImpedance);//关节阻抗while(!motion_finished) { auto read_once_return= active_control->readOnce();//读取机器人状态auto robot_...
velocityCommand", "ArticulationController.inputs:velocityCommand"), # 将 "SubscribeJointState" 节点的输出 "effortCommand" 连接到 "ArticulationController" 节点的输入 "effortCommand" # 这样 "ArticulationController" 节点可以获取力矩控制命令 ("SubscribeJointState.outputs:effortCommand", "ArticulationController....
Sagara S, Taira Y (2008) Digital control of space robot manipulators with a velocity-type joint controller using the transpose of the generalized Jacobian matrix. Artif Life Robotics 13:355–358Sagara S,Taira Y. Digital control of space robot ma-nipulators with velocity type joint controller ...
condition number of Jacobian matrix of the redundant serial manipulators was minimized to determine the optimal fault tolerant configurations in which the relative joint velocity jump, the ratio of the 2-norm of the correctional velocity vector and the 2-norm of the overall velocity vector, was ...
7. Figure 5: Basic controller effort data: (A) Joint effort controller; (B) Joint position controller; (C) Joint velocity controller. [O] . -1 机译:图5:基本控制器努力数据:(a)联合努力控制器; (b)联合职务人员; (c)联合速度控制器。AI...
In dynamic and velocity control mode, the controller is instructed about the desired velocitySynopsis PythonLua sim.setJointTargetVelocity(int objectHandle, float targetVelocity, float[] motionParams = []) Arguments objectHandle: handle of the joint object targetVelocity: target velocity of the joint...
objectInHand.GetComponent<Rigidbody>().velocity = Controller.velocity; objectInHand.GetComponent<Rigidbody>().angularVelocity = Controller.angularVelocity; } // 4 objectInHand = null; } 1. 2. 3. 4. 5. 6. 7. 8. 9. 10. 11. 12. ...