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Stack Of Tasks
roscontrol_sot
Commits
6c4a8641
Unverified
Commit
6c4a8641
authored
Apr 09, 2020
by
Guilhem Saurel
Committed by
GitHub
Apr 09, 2020
Browse files
Merge pull request #22 from NoelieRamuzat/devel
[Effort Mode] Add default PD controller when no control
parents
89297b15
5d4e2c66
Changes
1
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Side-by-side
src/roscontrol-sot-controller.cpp
View file @
6c4a8641
...
...
@@ -1089,6 +1089,12 @@ void RCSotController::update(const ros::Time &, const ros::Duration &period) {
ROS_ERROR_STREAM
(
"RCSotController::update: "
<<
e
.
what
());
throw
;
}
// But in effort mode it means that we are sending 0
// Therefore implements a default PD controller on the system.
// Applying both to handle mixed system.
localStandbyEffortControlMode
(
period
);
localStandbyVelocityControlMode
(
period
);
localStandbyPositionControlMode
();
}
}
...
...
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