Joint controller which can be attached to a model with a reference to a single joint. Currently only the first axis of a joint is actuated. More...

#include <JointController.hh>

Public Member Functions
	JointController ()
	Constructor. More...

	~JointController () override=default
	Destructor. More...

void	Configure (const Entity &_entity, const std::shared_ptr< const sdf::Element > &_sdf, EntityComponentManager &_ecm, EventManager &_eventMgr) override
	Configure the system. More...

void	PreUpdate (const UpdateInfo &_info, EntityComponentManager &_ecm) override

Public Member Functions inherited from System
	System ()=default
	Constructor. More...

virtual	~System ()=default
	Destructor. More...

Detailed Description

Joint controller which can be attached to a model with a reference to a single joint. Currently only the first axis of a joint is actuated.

System Parameters

<joint_name> The name of the joint to control. Required parameter. Can also include multiple <joint_name> for identical joints.

<use_force_commands> True to enable the controller implementation using force commands. If this parameter is not set or is false, the controller will use velocity commands internally.

<use_actuator_msg> True to enable the use of actuator message for velocity command. The actuator msg is an array of floats for position, velocity and normalized commands. Relies on <actuator_number> for the index of the velocity actuator and defaults to topic "/actuators" when topic or `subtopic not set.

<actuator_number> used with <use_actuator_msg> to set the index of the velocity actuator.

<topic> Topic to receive commands in. Defaults to /model/<model_name>/joint/<joint_name>/cmd_vel.

<sub_topic> Sub topic to receive commands in. Defaults to "/model/<model_name>/<sub_topic>".

<initial_velocity> Velocity to start with.

Velocity mode: No additional parameters are required.

Force mode: The controller accepts the next optional parameters:

<p_gain> The proportional gain of the PID. The default value is 1.

<i_gain> The integral gain of the PID. The default value is 0.

<d_gain> The derivative gain of the PID. The default value is 0.

<i_max> The integral upper limit of the PID. The default value is 1.

<i_min> The integral lower limit of the PID. The default value is -1.

<cmd_max> Output max value of the PID. The default value is 1000.

<cmd_min> Output min value of the PID. The default value is -1000.

<cmd_offset> Command offset (feed-forward) of the PID. The default value is 0.

Constructor & Destructor Documentation

◆ JointController()

JointController ( )

Constructor.

◆ ~JointController()

~JointController ( )

overridedefault

Destructor.

Member Function Documentation

◆ Configure()

void Configure	(	const Entity &	_entity,
		const std::shared_ptr< const sdf::Element > &	_sdf,
		EntityComponentManager &	_ecm,
		EventManager &	_eventMgr
	)

overridevirtual

Configure the system.

Parameters

[in]	_entity	The entity this plugin is attached to.
[in]	_sdf	The SDF Element associated with this system plugin.
[in]	_ecm	The EntityComponentManager of the given simulation instance.
[in]	_eventMgr	The EventManager of the given simulation instance.