The site is read-only. Please transition to use Robotics Stack Exchange
| ROS Resources: Documentation | Support | Discussion Forum | Index | Service Status | ros @ Robotics Stack Exchange |
 | 1 | initial version |
Hence, JointTrajectoryActionController actually covers a set of JointPositionControllers by allowing us to specify not only the final joint positions but also the final joint velocities and accelerations even if joint trajectory includes a single goal -at that moment-.
This way, we can extend the usage of joint position controller when we have many joints to control and the preferred control scheme is position control -like in the case of a movement mimicking robot- by creating one single controller that manages many joints at the same time. This saves us creating a JointPositionController plugin for every single joint.
ROS Answers is licensed under Creative Commons Attribution 3.0 Content on this site is licensed under a Creative Commons Attribution Share Alike 3.0 license.
