RQT Joint Trajectory Controller

RQT Joint Trajectory Controller#

The rqt_joint_trajectory_controller is a GUI for interacting with the JointTrajectoryControllers using sliders. It provides an intuitive graphical way to test different joint positions and trajectories without having to manually construct complex trajectory messages or use command line interfaces.

RQT Joint Trajectory Controller GUI

The interface allows you to:

  • Select the controller manager namespace and controller from dropdown menus.

  • Adjust target positions for joints (joint1 and joint2) using interactive sliders.

  • Fine-tune joint positions with precise numerical inputs.

  • Control the motion speed using the speed scaling slider.

  • Activate the trajectory execution with the central power button.

  • Visualize current joint configurations in real-time.

Connect a Terminal to the robot and run.

ros2 run rqt_joint_trajectory_controller rqt_joint_trajectory_controller