Joint position controller which can be attached to a model with a reference to a single joint. More...

#include <JointPositionController.hh>

Public Member Functions
	JointPositionController ()
	Constructor.

	~JointPositionController () override=default
	Destructor.

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

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

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

virtual	~System ()=default
	Destructor.

Additional Inherited Members
Public Types inherited from System
using	PriorityType = int32_t
	Signed integer type used for specifying priority of the execution order of PreUpdate and Update phases.

Static Public Attributes inherited from System
static constexpr PriorityType	kDefaultPriority = {0}
	Default priority value for execution order of the PreUpdate and Update phases.

static constexpr std::string_view	kPriorityElementName
	Name of the XML element from which the priority value will be parsed.

Detailed Description

Joint position controller which can be attached to a model with a reference to a single joint.

A new Gazebo Transport topic is created to send target joint positions. The default topic name is "/model/<model_name>/joint/<joint_name>/<joint_index>/cmd_pos".

This topic accepts gz::msgs::Double values representing the target position. If you wish to change the topic on which this plugin listens you may use the <topic> parameter to specify which topic the plugin should listen on.

System Parameters

<joint_name> The name of the joint to control. Required parameter. Can also include multiple <joint_name> for identical joints.
<joint_index> Axis of the joint to control. Optional parameter. The default value is 0.
<use_actuator_msg> True to enable the use of actutor message for position command. Relies on <actuator_number> for the index of the position actuator and defaults to topic "/actuators".
<actuator_number> used with <use_actuator_commands> to set the index of the position actuator.
<p_gain> The proportional gain of the PID. Optional parameter. The default value is 1.
<i_gain> The integral gain of the PID. Optional parameter. The default value is 0.1.
<d_gain> The derivative gain of the PID. Optional parameter. The default value is 0.01
<i_max> The integral upper limit of the PID. Optional parameter. The default value is 1.
<i_min> The integral lower limit of the PID. Optional parameter. The default value is -1.
<cmd_max> Output max value of the PID. Optional parameter. The default value is 1000.
<cmd_min> Output min value of the PID. Optional parameter. The default value is -1000.
<cmd_offset> Command offset (feed-forward) of the PID. Optional parameter. The default value is 0.
<use_velocity_commands> Bypasses the PID and creates a perfect position. The maximum speed on the joint can be set using the <cmd_max> tag.
<topic> If you wish to listen on a non-default topic you may specify it here, otherwise the controller defaults to listening on "/model/<model_name>/joint/<joint_name>/<joint_index>/cmd_pos".
<sub_topic> If you wish to listen on a sub_topic you may specify it here "/model/<model_name>/<sub_topic>".
<initial_position> Initial position of a joint. Optional parameter. The default value is 0.

Constructor & Destructor Documentation

◆ JointPositionController()

JointPositionController ( )

Constructor.

◆ ~JointPositionController()

~JointPositionController ( )

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.

Implements ISystemConfigure.

◆ PreUpdate()

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

overridevirtual

Implements ISystemPreUpdate.

The documentation for this class was generated from the following file:

systems/joint_position_controller/JointPositionController.hh

Gazebo Sim

API Reference

Public Member Functions

Additional Inherited Members