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Package Summary

Tags No category tags.
Version 0.4.12
License Apache 2.0
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/PilzDE/pilz_robots.git
VCS Type git
VCS Version kinetic-devel
Last Updated 2023-11-22
Dev Status DEVELOPED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

This package provides a specialized joint_trajectory_controller that can be moved into holding state via service call. No further trajectories will be accepted/followed in this state.

Additional Links

Maintainers

  • Immanuel Martini

Authors

No additional authors.

Overview

This package provides a joint trajectory controller which can be put into a holding mode through a service call. It contains a specialized version of ros_controllers::JointTrajectoryController providing the holding mode functionality. A controlled stop using a hold trajectory is performed thus stopping the manipulator without the mechanical stress of a hard brake.

ROS API

Advertised service

  • hold (std_srvs/Trigger)
    • Switch into holding mode
  • unhold (std_srvs/Trigger)
    • Leave holding mode
CHANGELOG

Changelog for package pilz_control

0.4.12 (2020-03-24)

  • Minor fixes
  • integrate clang-tidy via CMake flag
  • Better handling consecutive calls on the hold service of joint trajectory controller
  • Contributors: Pilz GmbH and Co. KG

0.4.11 (2019-09-11)

0.4.10 (2019-09-03)

  • Add is_executing service to joint trajectory controller
  • Contributors: Pilz GmbH and Co. KG

0.4.9 (2019-06-19)

0.4.8 (2019-04-24)

0.4.7 (2019-02-15)

  • Fixes for new JointTrajectoryController Interface
  • drop outdated can configuration
  • Contributors: Pilz GmbH and Co. KG

0.4.6 (2019-01-18)

0.4.5 (2019-01-16)

0.4.4 (2019-01-16)

  • Increase controller holding mode user feedback from INFO to WARN

0.4.3 (2018-11-30)

0.4.2 (2018-11-08)

0.4.1 (2018-11-07)

0.4.0 (2018-11-06)

  • joint trajectory controller with holding mode functionality

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

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