September 2017
Intermediate to advanced
530 pages
15h 8m
English
Content preview from A Systematic Approach to Learning Robot Programming with ROS
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CHAPTER 11
Low-Level Control
CONTENTS
11.1 A one-DOF prismatic-joint robot model
11.2 Example position controller
11.3 Example velocity controller
11.5 Trajectory messages for robot arms
11.6 Trajectory interpolation action server for a seven-DOF arm
INTRODUCTION
This chapter will explore variations on low-level joint control in ROS. In Section 3.5, robot-arm control concepts in ROS were introduced using a separate feedback node that interacted with Gazebo via Gazebo topics. This approach, while suitable for illustrative purposes, is not preferred, since sample rates and latencies due to communication via topics limits the achievable performance of such controllers. Instead, as introduced in Section ...
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