Controllers
This page contains a list of supported and shipped (custom) controllers.
Please refer to the demo repository for some examples on how to set them up.
Supported controllers
In general all “simple” default ros2_control controllers are supported: Overview \
Shipped (custom) controllers
In order to fully utilize the DynaArm with ROS2 we ship some additional controllers:
Name |
Description |
|---|---|
Provide additional status information about the arm that is not provided by any of the default broadcasters |
|
Commands feed forward torque commands that compensation the gravity influence based on the current configuration and velocities |
|
Allow to freely move the arm around by hand - needs to be run in combination with the GravityCompensationController |
|
Puts the hardware into freeze mode during activation |
|
Allows to tune / update the PID parameters in the live system |