ROS Programming: Building Powerful Robots

Interfacing joint state controllers and joint position controllers to the arm

Interfacing robot controllers to each joint is a simple task. The first task is to write a configuration file for two controllers.

The joint state controllers will publish the joint states of the arm and the joint position controllers can receive a goal position for each joint and can move each joint.

We will find the configuration file for the controller at seven_dof_arm_gazebo_control.yaml in chapter_3_code/seven_dof_arm_gazebo/config.

Here is the configuration file definition:

seven_dof_arm: # Publish all joint states ----------------------------------- joint_state_controller: type: joint_state_controller/JointStateController publish_rate: 50 # Position Controllers ...