I know that UR5 is a joint-velocity-control robot that accepts velocity as an input. Still, I’m not sure what is the proper hardware interface (i.e. the low-level controller) I need to simulate in ROS. The ros_control package has abundance of controllers’ types. The most relevant ones for UR5 are
The above controllers accept velocity as an input, but the actual command applied on the actuator is different. For example, in
effort_controllers, velocity input is mapped into torque, whereas in the second one, velocity input is forwarded. Of course, in a simulation, we have more freedom and can apply all controllers; however, if we want to be as close as possible to reality, which type should I use for the UR5? I’ve tried to read the documentation, but I only see controlling the platform via GUI. Any suggestions?
please we need feedback.