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twist_controller package from ros_controllers_cartesian repo

cartesian_interface cartesian_trajectory_controller cartesian_trajectory_interpolation ros_controllers_cartesian twist_controller

ROS Distro
melodic

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Browse Code

Package Summary

Tags	No category tags.
Version	0.1.7
License	Apache-2.0
Build type	CATKIN
Use	RECOMMENDED

Repository Summary

Description	ROS control hardware interface definitions and controllers for Cartesian control of robot manipulators.
Checkout URI	https://github.com/UniversalRobots/Universal_Robots_ROS_controllers_cartesian.git
VCS Type	git
VCS Version	main
Last Updated	2025-06-02
Dev Status	DEVELOPED
Released	RELEASED
Tags	No category tags.
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

A ros_control controller accepting Cartesian twist messages in order to move a robot manipulator. It uses a Cartesian interface to the robot, so that the robot hardware takes care about doing the inverse kinematics. This could be used e.g. for visual servoing applications.

Additional Links

Website

Maintainers

Stefan Scherzinger
Felix Exner

Authors

Felix Exner
Stefan Scherzinger

twist_controller/README.md

Twist Controller

A Cartesian ROS-controller for commanding target twists to a robot.

This controller makes use of a TwistCommandInterface to set a user specified twist message as reference for robot control.

Controller .yaml

A possible configuration looks like this:

twist_controller:
   type:         ros_controllers_cartesianlers/TwistController

   # The controller uses this identifier to get the according command handle
   # from the hardware interface.
   frame_id:     "endpoint_to_control"

   joints:
   - joint1
   - joint2
   - joint3
   - joint4
   - joint5
   - joint6

Acknowledgement

Developed in collaboration between:

and .

Supported by ROSIN - ROS-Industrial Quality-Assured Robot Software Components. More information: rosin-project.eu

eu_flag

This project has received funding from the European Union’s Horizon 2020 research and innovation programme under grant agreement no. 732287.

CHANGELOG

Changelog for package twist_controller

0.1.7 (2024-07-29)

0.1.6 (2024-06-12)

add missing pluginlib (#16)
Clean up package.xml files (#13)
Contributors: Felix Exner, Hongzhuo Liang

0.1.5 (2021-12-02)

Rename library target (#10) Using the [cartesian]{.title-ref} prefix for the library target shall avoid clashes with IPA's [cob_twist_controller]{.title-ref}.
Contributors: Stefan Scherzinger

0.1.4 (2021-08-05)

Add websites to package.xml files
Update image paths of partner logos (#4)
Contributors: Felix Exner

0.1.3 (2021-06-23)

Fixed namespace of controller plugin (#3) It clearly contained a typo
Contributors: Felix Exner

0.1.2 (2021-06-15)

Remove more trailing whitespaces
Contributors: Felix Exner

0.1.1 (2021-06-15)

Removed trailing whitespaces from README's
Contributors: Felix Exner

0.1.0 (2021-06-15)

Initial release
Contributors: Felix Exner, Stefan Scherzinger

Package Dependencies

Deps	Name
	controller_interface
	pluginlib
	catkin
	cartesian_interface
	dynamic_reconfigure
	geometry_msgs
	hardware_interface
	realtime_tools
	roscpp

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
ros_controllers_cartesian
ur_robot_driver

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

controller_interface

Recent questions tagged `twist_controller` at Robotics Stack Exchange

API Docs Browse Code

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