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conman_ros package from conman repoconman conman_blocks conman_examples conman_msgs conman_ros rqt_conman rtt_conman_msgs |
Package Summary
Tags | No category tags. |
Version | 0.0.0 |
License | BSD |
Build type | CATKIN |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/RCPRG-ros-pkg/conman.git |
VCS Type | git |
VCS Version | melodic-devel |
Last Updated | 2019-05-30 |
Dev Status | UNMAINTAINED |
CI status | No Continuous Integration |
Released | UNRELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Jonathan Bohren
Authors
Conman ROS Interfaces
This package provides interfaces to interact with Conman Schemes over ROS. These interfaces include an RTT service which provides the following:
- Connection of Scheme operations to ROS services
- A ROS topic with status information
- A ros_control-compatible controller switching API
Note that individual blocks in the scheme may have their own ROS interfaces in addition to the one for the scheme.
Conman ROS API
TBD
Conman ros_control-Compatible ROS API
Conman also provides an API using the same messages and services used by the ros_control controller manager.
Topics
-
controllers_statisics
controller_manager_msgs/ControllersStatistics
- This contains the same information as it does in ros_control, but for each block in the Schame.
-
controller_state
controller_manager_msgs/ControllerState
- This contains only the "name", "state", and "type" values for each block in the Scheme.
Services
Only the services which are required for starting and stopping controllers, and adding and removing them from the system. The services which are specific to the plugin interface for ros_control are not provided. For loading libraries, it is preferred that Orocos Ops script be used. Note that while ros_control allows loading of plugins via ROS services, the mappings between controller names and the controller types must still be put on the parameter server somehow.
-
list_controllers
controller_manager_msgs/ListControllers
- List all block names.
-
list_controller_types
controller_manager_msgs/ListControllerTypes
- UNIMPLEMENTED
-
switch_controller
controller_manager_msgs/SwitchController
- Maps directly to Scheme::switchBlocks with controller names correspond to block names.
-
load_controller
controller_manager_msgs/LoadController
- Adds a peer of the Scheme to the Scheme by name. This is equivalent to calling Scheme::addBlock with a block name.
-
reload_controller_libraries
controller_manager_msgs/ReloadControllerLibraries
- UNIMPLEMENTED
-
unload_controller
controller_manager_msgs/UnloadController
- Removes a block from the Scheme by name. This is equivalent to calling Scheme::removeBlock with a block name.
Wiki Tutorials
Source Tutorials
Package Dependencies
Deps | Name | |
---|---|---|
1 | rtt | |
1 | rtt_roscomm | |
1 | rtt_actionlib | |
2 | conman | |
1 | cmake_modules | |
2 | conman_msgs | |
2 | rtt_conman_msgs | |
2 | controller_manager_msgs | |
1 | rtt_controller_manager_msgs | |
1 | catkin |
System Dependencies
Dependant Packages
Name | Repo | Deps |
---|---|---|
conman_examples | github-RCPRG-ros-pkg-conman |
Launch files
Messages
Services
Plugins
Recent questions tagged conman_ros at answers.ros.org
![]() |
conman_ros package from conman repoconman conman_blocks conman_examples conman_msgs conman_ros rqt_conman rtt_conman_msgs |
Package Summary
Tags | No category tags. |
Version | 0.0.0 |
License | BSD |
Build type | CATKIN |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/RCPRG-ros-pkg/conman.git |
VCS Type | git |
VCS Version | master |
Last Updated | 2016-05-30 |
Dev Status | UNMAINTAINED |
CI status | No Continuous Integration |
Released | UNRELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Jonathan Bohren
Authors
Conman ROS Interfaces
This package provides interfaces to interact with Conman Schemes over ROS. These interfaces include an RTT service which provides the following:
- Connection of Scheme operations to ROS services
- A ROS topic with status information
- A ros_control-compatible controller switching API
Note that individual blocks in the scheme may have their own ROS interfaces in addition to the one for the scheme.
Conman ROS API
TBD
Conman ros_control-Compatible ROS API
Conman also provides an API using the same messages and services used by the ros_control controller manager.
Topics
-
controllers_statisics
controller_manager_msgs/ControllersStatistics
- This contains the same information as it does in ros_control, but for each block in the Schame.
-
controller_state
controller_manager_msgs/ControllerState
- This contains only the "name", "state", and "type" values for each block in the Scheme.
Services
Only the services which are required for starting and stopping controllers, and adding and removing them from the system. The services which are specific to the plugin interface for ros_control are not provided. For loading libraries, it is preferred that Orocos Ops script be used. Note that while ros_control allows loading of plugins via ROS services, the mappings between controller names and the controller types must still be put on the parameter server somehow.
-
list_controllers
controller_manager_msgs/ListControllers
- List all block names.
-
list_controller_types
controller_manager_msgs/ListControllerTypes
- UNIMPLEMENTED
-
switch_controller
controller_manager_msgs/SwitchController
- Maps directly to Scheme::switchBlocks with controller names correspond to block names.
-
load_controller
controller_manager_msgs/LoadController
- Adds a peer of the Scheme to the Scheme by name. This is equivalent to calling Scheme::addBlock with a block name.
-
reload_controller_libraries
controller_manager_msgs/ReloadControllerLibraries
- UNIMPLEMENTED
-
unload_controller
controller_manager_msgs/UnloadController
- Removes a block from the Scheme by name. This is equivalent to calling Scheme::removeBlock with a block name.
Wiki Tutorials
Source Tutorials
Package Dependencies
Deps | Name | |
---|---|---|
1 | rtt | |
1 | rtt_roscomm | |
1 | rtt_actionlib | |
2 | conman | |
1 | cmake_modules | |
2 | conman_msgs | |
2 | rtt_conman_msgs | |
2 | controller_manager_msgs | |
1 | rtt_controller_manager_msgs | |
1 | catkin |