Hi,
I was studying ROS control and writing a custom controller. Do you have a tutorial on writing a cpp file with the hardware interface? In the tutorial,
bool init(hardware_interface::EffortJointInterface *hw, ros::NodeHandle &n){
joint_ - hw -> getHandle(my_joint)
comamnd_ = joint_.getPosition()
}
private hardware_interface::JointHandle joint_
The JointHandle would be a cpp file?
Is there a tutorial on making the JointHandle.cpp on a real hardware say for an example a servo motor?
Thanks