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.
Topic interface deprecated:
Due to safety reasons, the command interface of the PilzJointTrajectoryController is deactivated. For more information
see issue #493 on ros-controls/ros_controllers.
The controller can perform a speed monitoring of the robot links in cartesian space. If one or more robot links move faster than 250 mm/s, a controlled stop is executed. This is a requirement in operation mode T1 from DIN EN ISO 10218-1. See prbt_hardware_support.
The speed monitoring is activated by default.
Additionally the controller limits the joint acceleration of the performed trajectories. In the file manipulator_controller.yaml these limits can be adjusted.
is_executing(std_srvs/Trigger)- Detect if the controller is currently executing a trajectory
monitor_cartesian_speed(std_srvs/SetBool)- Activate/deactivate speed monitoring
hold(std_srvs/Trigger)- Switch into holding mode
unhold(std_srvs/Trigger)- Leave holding mode