ros - 了解ros_control的JointTrajectoryController

Question

目前，我正在尝试了解 hardware_interface 和 ros_control 是如何工作的：velocity_controllers/JointTrajectoryController被选为控制器类型，到目前为止一切似乎都正常。如您所见，$rostopic echo /robot_arm_controller_trajectory/follow_joint_trajectory/goal 轨迹控制器的输出计算了具有特定速度值的 8 个插值点。确保真正的机器人实际上以所需的速度值向这些点移动的正确下一步是什么？

1. 在 hardware_interface.cpp 我本地存储来自 /robot_arm_controller_trajectory/follow_joint_trajectory/goal 的值
2. 在 write() 中，我确保实际速度与所需的速度值匹配（应应用 PID）。对于每个点，我检查速度是否在给定时间内达到其期望值，否则 set_abort()

这是正确的方法吗？如果是，JointTrajectoryController实际上只关心生成所需的插值点。那么$rostopic echo /robot_arm_controller_trajectory/follow_joint_trajectory/feedback，如果JointTrajectoryController不处理“到达”任务（检查是否达到计算点），这意味着什么？

header:    seq: 0   stamp: 
    secs: 1634781253
    nsecs: 480294199   frame_id: '' goal_id:    stamp: 
    secs: 1634781253
    nsecs: 480294676   id: "/move_group_plan-2-1634781253.480294676" goal:    trajectory: 
    header: 
      seq: 0
      stamp: 
        secs: 1634781313
        nsecs: 480279134
      frame_id: "world"
    joint_names: 
      - jnt0
      - jnt1
      - jnt2
      - jnt3
      - jnt4
    points: 
      - 
        positions: [1.5700000524520874,
0.7400000095367432, 0.6600000262260437, 1.7000000476837158, 1.0]
        velocities: [0.0, 0.0, 0.0, 0.0, 0.0]
        accelerations: []
        effort: []
        time_from_start: 
          secs: 0
          nsecs:         0
      - 
        positions: [1.5703209370473115,
0.7406213365581189, 0.6710738072625566, 1.6212431102458411, 0.9413782050925622]
        velocities: [0.0013806954234580442,
0.002673432715851713, 0.047648029930578414, -0.33887367827729736, -0.2522366144972447]
        accelerations: []
        effort: []
        time_from_start: 
          secs: 0
          nsecs: 398756937
      - 
        positions: [1.5706418216425353,
0.7412426635794948, 0.6821475882990696, 1.5424861728079666, 0.8827564101851244]
        velocities: [0.0022349043068913945,
0.004327432530974492, 0.07712692133070972, -0.5485281041759992, -0.40829040678906914]
        accelerations: []
        effort: []
        time_from_start: 
          secs: 0
          nsecs: 562751472
      - 
        positions: [1.5709627062377594,
0.7418639906008705, 0.6932213693355825, 1.463729235370092, 0.8241346152776866]
        velocities: [0.002753033119682365,
0.005330682411870807, 0.09500763329677239, -0.6756960614448504, -0.502946371740638]
        accelerations: []
        effort: []
        time_from_start: 
          secs: 0
          nsecs: 690434717
      - 
        positions: [1.5712835908329834,
0.7424853176222463, 0.7042951503720954, 1.3849722979322172, 0.7655128203702488]
        velocities: [0.0027706307883390013,
0.00536475667786027, 0.09561493178463103, -0.6800151796264982, -0.506161256276052]
        accelerations: []
        effort: []
        time_from_start: 
          secs: 0
          nsecs: 797648694
      - 
        positions: [1.5716044754282075,
0.7431066446436221, 0.7153689314086084, 1.3062153604943427, 0.706891025462811]
        velocities: [0.0022505020740580467,
0.004357634399054199, 0.07766520288374407, -0.5523563726288884, -0.41113993313426167]
        accelerations: []
        effort: []
        time_from_start: 
          secs: 0
          nsecs: 923568484
      - 
        positions: [1.5719253600234313,
0.7437279716649979, 0.7264427124451214, 1.227458423056468, 0.6482692305553732]
        velocities: [0.0013786955219680596,
0.0026695603179419584, 0.04757901299575412, -0.33838282854853885, -0.25187125630702323]
        accelerations: []
        effort: []
        time_from_start: 
          secs: 1
          nsecs:  87898940
      - 
        positions: [1.5722462446186554,
0.7443492986863737, 0.7375164934816343, 1.1487014856185933, 0.5896474356479354]
        velocities: [0.0, 0.0, 0.0, 0.0, 0.0]
        accelerations: []
        effort: []
        time_from_start: 
          secs: 1
          nsecs: 486655878   path_tolerance: []   goal_tolerance: []   goal_time_tolerance: 
    secs: 0
    nsecs:         0
---

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