Repository Summary
Checkout URI | https://github.com/ros-controls/ros2_control.git |
VCS Type | git |
VCS Version | humble |
Last Updated | 2024-10-08 |
Dev Status | DEVELOPED |
CI status | No Continuous Integration |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Packages
Name | Version |
---|---|
controller_interface | 2.43.1 |
controller_manager | 2.43.1 |
controller_manager_msgs | 2.43.1 |
hardware_interface | 2.43.1 |
hardware_interface_testing | 2.43.1 |
joint_limits | 2.43.1 |
joint_limits_interface | 0.0.0 |
ros2_control | 2.43.1 |
ros2_control_test_assets | 2.43.1 |
ros2controlcli | 2.43.1 |
rqt_controller_manager | 2.43.1 |
transmission_interface | 2.43.1 |
README
ros2_control
This package is a part of the ros2_control framework. For more, please check the documentation.
Build status
ROS2 Distro | Branch | Build status | Documentation | Released packages |
---|---|---|---|---|
Rolling | master |
|
Documentation API Reference |
ros2_control |
Jazzy | master |
|
Documentation API Reference |
ros2_control |
Iron | iron |
|
Documentation API Reference |
ros2_control |
Humble | humble |
|
Documentation API Reference |
ros2_control |
Explanation of different build types
NOTE: There are three build stages checking current and future compatibility of the package.
-
Binary builds - against released packages (main and testing) in ROS distributions. Shows that direct local build is possible.
Uses repos file:
src/$NAME$/$NAME$-not-released.<ros-distro>.repos
-
Semi-binary builds - against released core ROS packages (main and testing), but the immediate dependencies are pulled from source. Shows that local build with dependencies is possible and if fails there we can expect that after the next package sync we will not be able to build.
Uses repos file:
src/$NAME$/$NAME$.repos
-
Source build - also core ROS packages are build from source. It shows potential issues in the mid future.
Docker images
There are a few published docker images that come with the latest releases. More information about them can be found in the .docker
folder. You can pull them under these tags: ghcr.io/ros-controls/ros2_control_release
or ghcr.io/ros-controls/ros2_control_source
.
Acknowledgements
Supported by ROSIN - ROS-Industrial Quality-Assured Robot Software Components. More information: rosin-project.eu
This project has received funding from the European Union’s Horizon 2020 research and innovation programme under grant agreement no. 732287.
CONTRIBUTING
Contributing Guidelines
Thank you for your interest in contributing to ros2_control
.
Whether it’s a bug report, new feature, correction, or additional
documentation, we greatly value feedback and contributions from our community.
Please read through this document before submitting any issues or pull requests to ensure we have all the necessary information to effectively respond to your bug report or contribution.
Reporting Bugs/Feature Requests
We welcome you to use the GitHub issue tracker to report bugs or suggest features.
When filing an issue, please check existing open, or recently closed, issues to make sure somebody else hasn’t already reported the issue. Please try to include as much information as you can. Details like these are incredibly useful:
- A reproducible test case or series of steps
- The version of our code being used
- Any modifications you’ve made relevant to the bug
- Anything unusual about your environment or deployment
Contributing via Pull Requests
The following guidance should be up-to-date, but the documentation as found here should prove as the final say.
Contributions via pull requests are much appreciated. Before sending us a pull request, please ensure that:
- Limited scope. Your PR should do one thing or one set of things. Avoid adding “random fixes” to PRs. Put those on separate PRs.
- Give your PR a descriptive title. Add a short summary, if required.
- Make sure the pipeline is green.
- Don’t be afraid to request reviews from maintainers.
- New code = new tests. If you are adding new functionality, always make sure to add some tests exercising the code and serving as live documentation of your original intention.
To send us a pull request, please:
- Fork the repository.
- Modify the source; please focus on the specific change you are contributing. If you also reformat all the code, it will be hard for us to focus on your change.
- Ensure local tests pass. (
colcon test
andpre-commit run
(requires you to install pre-commit bypip3 install pre-commit
) - Commit to your fork using clear commit messages.
- Send a pull request, answering any default questions in the pull request interface.
- Pay attention to any automated CI failures reported in the pull request, and stay involved in the conversation.
GitHub provides additional documentation on forking a repository and creating a pull request.
Finding contributions to work on
Looking at the existing issues is a great way to find something to contribute on. As this project, by default, uses the default GitHub issue labels (enhancement/bug/duplicate/help wanted/invalid/question/wontfix), looking at any ‘help wanted’ issues is a great place to start.
Licensing
Any contribution that you make to this repository will be under the Apache 2 License, as dictated by that license:
5. Submission of Contributions. Unless You explicitly state otherwise,
any Contribution intentionally submitted for inclusion in the Work
by You to the Licensor shall be under the terms and conditions of
this License, without any additional terms or conditions.
Notwithstanding the above, nothing herein shall supersede or modify
the terms of any separate license agreement you may have executed
with Licensor regarding such Contributions.
Repository Summary
Checkout URI | https://github.com/ros-controls/ros2_control.git |
VCS Type | git |
VCS Version | iron |
Last Updated | 2024-10-08 |
Dev Status | DEVELOPED |
CI status | No Continuous Integration |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Packages
Name | Version |
---|---|
controller_interface | 3.28.1 |
controller_manager | 3.28.1 |
controller_manager_msgs | 3.28.1 |
hardware_interface | 3.28.1 |
hardware_interface_testing | 3.28.1 |
joint_limits | 3.28.1 |
joint_limits_interface | 0.0.0 |
ros2_control | 3.28.1 |
ros2_control_test_assets | 3.28.1 |
ros2controlcli | 3.28.1 |
rqt_controller_manager | 3.28.1 |
transmission_interface | 3.28.1 |
README
ros2_control
This package is a part of the ros2_control framework. For more, please check the documentation.
Build status
ROS2 Distro | Branch | Build status | Documentation | Released packages |
---|---|---|---|---|
Rolling | master |
|
Documentation API Reference |
ros2_control |
Jazzy | master |
|
Documentation API Reference |
ros2_control |
Iron | iron |
|
Documentation API Reference |
ros2_control |
Humble | humble |
|
Documentation API Reference |
ros2_control |
Explanation of different build types
NOTE: There are three build stages checking current and future compatibility of the package.
-
Binary builds - against released packages (main and testing) in ROS distributions. Shows that direct local build is possible.
Uses repos file:
src/$NAME$/$NAME$-not-released.<ros-distro>.repos
-
Semi-binary builds - against released core ROS packages (main and testing), but the immediate dependencies are pulled from source. Shows that local build with dependencies is possible and if fails there we can expect that after the next package sync we will not be able to build.
Uses repos file:
src/$NAME$/$NAME$.repos
-
Source build - also core ROS packages are build from source. It shows potential issues in the mid future.
Docker images
There are a few published docker images that come with the latest releases. More information about them can be found in the .docker
folder. You can pull them under these tags: ghcr.io/ros-controls/ros2_control_release
or ghcr.io/ros-controls/ros2_control_source
.
Acknowledgements
Supported by ROSIN - ROS-Industrial Quality-Assured Robot Software Components. More information: rosin-project.eu
This project has received funding from the European Union’s Horizon 2020 research and innovation programme under grant agreement no. 732287.
CONTRIBUTING
Contributing Guidelines
Thank you for your interest in contributing to ros2_control
.
Whether it’s a bug report, new feature, correction, or additional
documentation, we greatly value feedback and contributions from our community.
Please read through this document before submitting any issues or pull requests to ensure we have all the necessary information to effectively respond to your bug report or contribution.
Reporting Bugs/Feature Requests
We welcome you to use the GitHub issue tracker to report bugs or suggest features.
When filing an issue, please check existing open, or recently closed, issues to make sure somebody else hasn’t already reported the issue. Please try to include as much information as you can. Details like these are incredibly useful:
- A reproducible test case or series of steps
- The version of our code being used
- Any modifications you’ve made relevant to the bug
- Anything unusual about your environment or deployment
Contributing via Pull Requests
The following guidance should be up-to-date, but the documentation as found here should prove as the final say.
Contributions via pull requests are much appreciated. Before sending us a pull request, please ensure that:
- Limited scope. Your PR should do one thing or one set of things. Avoid adding “random fixes” to PRs. Put those on separate PRs.
- Give your PR a descriptive title. Add a short summary, if required.
- Make sure the pipeline is green.
- Don’t be afraid to request reviews from maintainers.
- New code = new tests. If you are adding new functionality, always make sure to add some tests exercising the code and serving as live documentation of your original intention.
To send us a pull request, please:
- Fork the repository.
- Modify the source; please focus on the specific change you are contributing. If you also reformat all the code, it will be hard for us to focus on your change.
- Ensure local tests pass. (
colcon test
andpre-commit run
(requires you to install pre-commit bypip3 install pre-commit
) - Commit to your fork using clear commit messages.
- Send a pull request, answering any default questions in the pull request interface.
- Pay attention to any automated CI failures reported in the pull request, and stay involved in the conversation.
GitHub provides additional documentation on forking a repository and creating a pull request.
Finding contributions to work on
Looking at the existing issues is a great way to find something to contribute on. As this project, by default, uses the default GitHub issue labels (enhancement/bug/duplicate/help wanted/invalid/question/wontfix), looking at any ‘help wanted’ issues is a great place to start.
Licensing
Any contribution that you make to this repository will be under the Apache 2 License, as dictated by that license:
5. Submission of Contributions. Unless You explicitly state otherwise,
any Contribution intentionally submitted for inclusion in the Work
by You to the Licensor shall be under the terms and conditions of
this License, without any additional terms or conditions.
Notwithstanding the above, nothing herein shall supersede or modify
the terms of any separate license agreement you may have executed
with Licensor regarding such Contributions.
Repository Summary
Checkout URI | https://github.com/ros-controls/ros2_control.git |
VCS Type | git |
VCS Version | master |
Last Updated | 2024-10-08 |
Dev Status | DEVELOPED |
CI status | No Continuous Integration |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Packages
Name | Version |
---|---|
controller_interface | 4.18.0 |
controller_manager | 4.18.0 |
controller_manager_msgs | 4.18.0 |
hardware_interface | 4.18.0 |
hardware_interface_testing | 4.18.0 |
joint_limits | 4.18.0 |
ros2_control | 4.18.0 |
ros2_control_test_assets | 4.18.0 |
ros2controlcli | 4.18.0 |
rqt_controller_manager | 4.18.0 |
transmission_interface | 4.18.0 |
README
ros2_control
This package is a part of the ros2_control framework. For more, please check the documentation.
Build status
ROS2 Distro | Branch | Build status | Documentation | Released packages |
---|---|---|---|---|
Rolling | master |
|
Documentation API Reference |
ros2_control |
Jazzy | master |
|
Documentation API Reference |
ros2_control |
Iron | iron |
|
Documentation API Reference |
ros2_control |
Humble | humble |
|
Documentation API Reference |
ros2_control |
Explanation of different build types
NOTE: There are three build stages checking current and future compatibility of the package.
-
Binary builds - against released packages (main and testing) in ROS distributions. Shows that direct local build is possible.
Uses repos file:
src/$NAME$/$NAME$-not-released.<ros-distro>.repos
-
Semi-binary builds - against released core ROS packages (main and testing), but the immediate dependencies are pulled from source. Shows that local build with dependencies is possible and if fails there we can expect that after the next package sync we will not be able to build.
Uses repos file:
src/$NAME$/$NAME$.repos
-
Source build - also core ROS packages are build from source. It shows potential issues in the mid future.
Docker images
There are a few published docker images that come with the latest releases. More information about them can be found in the .docker
folder. You can pull them under these tags: ghcr.io/ros-controls/ros2_control_release
or ghcr.io/ros-controls/ros2_control_source
.
Acknowledgements
Supported by ROSIN - ROS-Industrial Quality-Assured Robot Software Components. More information: rosin-project.eu
This project has received funding from the European Union’s Horizon 2020 research and innovation programme under grant agreement no. 732287.
CONTRIBUTING
Contributing Guidelines
Thank you for your interest in contributing to ros2_control
.
Whether it’s a bug report, new feature, correction, or additional
documentation, we greatly value feedback and contributions from our community.
Please read through this document before submitting any issues or pull requests to ensure we have all the necessary information to effectively respond to your bug report or contribution.
Reporting Bugs/Feature Requests
We welcome you to use the GitHub issue tracker to report bugs or suggest features.
When filing an issue, please check existing open, or recently closed, issues to make sure somebody else hasn’t already reported the issue. Please try to include as much information as you can. Details like these are incredibly useful:
- A reproducible test case or series of steps
- The version of our code being used
- Any modifications you’ve made relevant to the bug
- Anything unusual about your environment or deployment
Contributing via Pull Requests
The following guidance should be up-to-date, but the documentation as found here should prove as the final say.
Contributions via pull requests are much appreciated. Before sending us a pull request, please ensure that:
- Limited scope. Your PR should do one thing or one set of things. Avoid adding “random fixes” to PRs. Put those on separate PRs.
- Give your PR a descriptive title. Add a short summary, if required.
- Make sure the pipeline is green.
- Don’t be afraid to request reviews from maintainers.
- New code = new tests. If you are adding new functionality, always make sure to add some tests exercising the code and serving as live documentation of your original intention.
To send us a pull request, please:
- Fork the repository.
- Modify the source; please focus on the specific change you are contributing. If you also reformat all the code, it will be hard for us to focus on your change.
- Ensure local tests pass. (
colcon test
andpre-commit run
(requires you to install pre-commit bypip3 install pre-commit
) - Commit to your fork using clear commit messages.
- Send a pull request, answering any default questions in the pull request interface.
- Pay attention to any automated CI failures reported in the pull request, and stay involved in the conversation.
GitHub provides additional documentation on forking a repository and creating a pull request.
Finding contributions to work on
Looking at the existing issues is a great way to find something to contribute on. As this project, by default, uses the default GitHub issue labels (enhancement/bug/duplicate/help wanted/invalid/question/wontfix), looking at any ‘help wanted’ issues is a great place to start.
Licensing
Any contribution that you make to this repository will be under the Apache 2 License, as dictated by that license:
5. Submission of Contributions. Unless You explicitly state otherwise,
any Contribution intentionally submitted for inclusion in the Work
by You to the Licensor shall be under the terms and conditions of
this License, without any additional terms or conditions.
Notwithstanding the above, nothing herein shall supersede or modify
the terms of any separate license agreement you may have executed
with Licensor regarding such Contributions.
Repository Summary
Checkout URI | https://github.com/ros-controls/ros2_control.git |
VCS Type | git |
VCS Version | master |
Last Updated | 2024-10-08 |
Dev Status | DEVELOPED |
CI status | No Continuous Integration |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Packages
Name | Version |
---|---|
controller_interface | 4.18.0 |
controller_manager | 4.18.0 |
controller_manager_msgs | 4.18.0 |
hardware_interface | 4.18.0 |
hardware_interface_testing | 4.18.0 |
joint_limits | 4.18.0 |
ros2_control | 4.18.0 |
ros2_control_test_assets | 4.18.0 |
ros2controlcli | 4.18.0 |
rqt_controller_manager | 4.18.0 |
transmission_interface | 4.18.0 |
README
ros2_control
This package is a part of the ros2_control framework. For more, please check the documentation.
Build status
ROS2 Distro | Branch | Build status | Documentation | Released packages |
---|---|---|---|---|
Rolling | master |
|
Documentation API Reference |
ros2_control |
Jazzy | master |
|
Documentation API Reference |
ros2_control |
Iron | iron |
|
Documentation API Reference |
ros2_control |
Humble | humble |
|
Documentation API Reference |
ros2_control |
Explanation of different build types
NOTE: There are three build stages checking current and future compatibility of the package.
-
Binary builds - against released packages (main and testing) in ROS distributions. Shows that direct local build is possible.
Uses repos file:
src/$NAME$/$NAME$-not-released.<ros-distro>.repos
-
Semi-binary builds - against released core ROS packages (main and testing), but the immediate dependencies are pulled from source. Shows that local build with dependencies is possible and if fails there we can expect that after the next package sync we will not be able to build.
Uses repos file:
src/$NAME$/$NAME$.repos
-
Source build - also core ROS packages are build from source. It shows potential issues in the mid future.
Docker images
There are a few published docker images that come with the latest releases. More information about them can be found in the .docker
folder. You can pull them under these tags: ghcr.io/ros-controls/ros2_control_release
or ghcr.io/ros-controls/ros2_control_source
.
Acknowledgements
Supported by ROSIN - ROS-Industrial Quality-Assured Robot Software Components. More information: rosin-project.eu
This project has received funding from the European Union’s Horizon 2020 research and innovation programme under grant agreement no. 732287.
CONTRIBUTING
Contributing Guidelines
Thank you for your interest in contributing to ros2_control
.
Whether it’s a bug report, new feature, correction, or additional
documentation, we greatly value feedback and contributions from our community.
Please read through this document before submitting any issues or pull requests to ensure we have all the necessary information to effectively respond to your bug report or contribution.
Reporting Bugs/Feature Requests
We welcome you to use the GitHub issue tracker to report bugs or suggest features.
When filing an issue, please check existing open, or recently closed, issues to make sure somebody else hasn’t already reported the issue. Please try to include as much information as you can. Details like these are incredibly useful:
- A reproducible test case or series of steps
- The version of our code being used
- Any modifications you’ve made relevant to the bug
- Anything unusual about your environment or deployment
Contributing via Pull Requests
The following guidance should be up-to-date, but the documentation as found here should prove as the final say.
Contributions via pull requests are much appreciated. Before sending us a pull request, please ensure that:
- Limited scope. Your PR should do one thing or one set of things. Avoid adding “random fixes” to PRs. Put those on separate PRs.
- Give your PR a descriptive title. Add a short summary, if required.
- Make sure the pipeline is green.
- Don’t be afraid to request reviews from maintainers.
- New code = new tests. If you are adding new functionality, always make sure to add some tests exercising the code and serving as live documentation of your original intention.
To send us a pull request, please:
- Fork the repository.
- Modify the source; please focus on the specific change you are contributing. If you also reformat all the code, it will be hard for us to focus on your change.
- Ensure local tests pass. (
colcon test
andpre-commit run
(requires you to install pre-commit bypip3 install pre-commit
) - Commit to your fork using clear commit messages.
- Send a pull request, answering any default questions in the pull request interface.
- Pay attention to any automated CI failures reported in the pull request, and stay involved in the conversation.
GitHub provides additional documentation on forking a repository and creating a pull request.
Finding contributions to work on
Looking at the existing issues is a great way to find something to contribute on. As this project, by default, uses the default GitHub issue labels (enhancement/bug/duplicate/help wanted/invalid/question/wontfix), looking at any ‘help wanted’ issues is a great place to start.
Licensing
Any contribution that you make to this repository will be under the Apache 2 License, as dictated by that license:
5. Submission of Contributions. Unless You explicitly state otherwise,
any Contribution intentionally submitted for inclusion in the Work
by You to the Licensor shall be under the terms and conditions of
this License, without any additional terms or conditions.
Notwithstanding the above, nothing herein shall supersede or modify
the terms of any separate license agreement you may have executed
with Licensor regarding such Contributions.
Repository Summary
Checkout URI | https://github.com/ros-controls/ros2_control.git |
VCS Type | git |
VCS Version | dashing |
Last Updated | 2020-02-06 |
Dev Status | DEVELOPED |
CI status | No Continuous Integration |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Packages
Name | Version |
---|---|
controller_interface | 0.0.1 |
controller_manager | 0.0.1 |
controller_parameter_server | 0.0.1 |
hardware_interface | 0.0.1 |
ros2_control | 0.0.1 |
test_robot_hardware | 0.0.1 |
README
ros2_control
CI
Disclaimer
ros2_control
is a proof of concept on how new features within ROS 2 can be elaborated and used in the context of robot control.
We were keeping the vocabulary close the ROS 1 implemenation, however this is with no notion a migration, but rather a fresh new-write.
We hope that this can be a starting point for migrating ros_control to ROS 2 at some point.
Reasons for re-writing this repo from scratch rather than porting existing code to ROS 2 syntax is to leverage the new ROS 2 concepts in full.
The work done in this repo (together with ros2_controllers
) was presented at ROSCon 2017 and is currently not under active development.
Getting Started
In order to be able to compile these two repos, a complete ROS 2 installation is necessary. Please find instructions on how to install ROS 2 here. At the time of writing, there exist binaries for ROS 2 (Bouncy Bolson) for all three major operating systems as well as detailed installation instructions when compiling from source.
Once ROS 2 is successfully installed, an overlay workspace can be created for the ros2_control packages.
$ mkdir -p ~/ros2_control_ws/src
$ cd $_
$ git clone https://github.com/ros-controls/ros2_control.git
$ git clone https://github.com/ros-controls/ros2_controlllers.git
We can then compile the overlay workspace. For this we first have to source the ROS 2 installation. In this case, we source the setup.bash
from the Bouncy binary distribution for Ubuntu. Obviously, the path to the setup file is different on each platform and thus has to be adjusted. Once ROS 2 is sourced, we can compile the ros2_control packages.
$ cd ~/ros2_control_ws
$ source /opt/ros/bouncy/setup.bash # this has to be adjusted for ROS-Distro and/or OS
$ colcon build
Controller Architecture
There are currently two controller available:
- JointStateController
- JointTrajectoryController
Both can be loaded through the controller manager from the ament_resource_index
.
What’s new in ROS 2 are Managed Nodes.
That means, every LifecycleNode
adheres to an underlying state machine as described in the linked wiki page.
We feature this for the controller interface in this work and thus every controller implicitely has means to start and stop the controller.
Similar to the ROS 1 implementation, each controller has to implement two functions: init
and update
.
We refer to the ROS 1 wiki for a general overview.
Writing a demo for your own robot
Similar as to the ROS 1 implementation, every hardware platform has to implement the robot_hardware_interface
Essentially, these three functions are required for every hardware and have to be implemented in a hardware-dependent manner.
HARDWARE_INTERFACE_PUBLIC
virtual
hardware_interface_ret_t init() = 0;
HARDWARE_INTERFACE_PUBLIC
virtual
hardware_interface_ret_t read() = 0;
HARDWARE_INTERFACE_PUBLIC
virtual
hardware_interface_ret_t write() = 0;
One possible example could be:
hardware_interface::hardware_interface_ret_t
MyRobot::init()
{
auto joint_names = {
"my_robot_joint_1",
"my_robot_joint_2",
};
size_t i = 0;
for (auto & joint_name : joint_names) {
hardware_interface::JointStateHandle state_handle(joint_name, &pos_[i], &vel_[i], &eff_[i]);
joint_state_handles_[i] = state_handle;
if (register_joint_state_handle(&joint_state_handles_[i]) != hardware_interface::HW_RET_OK) {
throw std::runtime_error("unable to register " + joint_state_handles_[i].get_name());
}
hardware_interface::JointCommandHandle command_handle(joint_name, &cmd_[i]);
joint_command_handles_[i] = command_handle;
if (register_joint_command_handle(&joint_command_handles_[i]) !=
hardware_interface::HW_RET_OK)
{
throw std::runtime_error("unable to register " + joint_command_handles_[i].get_name());
}
++i;
}
}
hardware_interface::hardware_interface_ret_t
MyRobot::read()
{
// do robot specific stuff to update the pos_, vel_, eff_ arrays
}
hardware_interface::hardware_interface_ret_t
MyRobot::write()
{
// do robot specific stuff to apply the command values from cmd_ to the robot
}
This robot hardware can then be loaded through the controller manager:
void
spin(std::shared_ptr<rclcpp::executors::multi_threaded_executor::MultiThreadedExecutor> exe)
{
exe->spin();
}
int main()
{
// do all the init stuff
// create my_robot instance
auto my_robot = std::make_shared<MyRobot>();
// initialize the robot
if (my_robot->init() != hardware_interface::HW_RET_OK) {
fprintf(stderr, "failed to initialized yumi hardware\n");
return -1;
}
auto executor =
std::make_shared<rclcpp::executors::multi_threaded_executor::MultiThreadedExecutor>();
// start the controller manager with the robot hardware
controller_manager::ControllerManager cm(my_robot, executor);
// load the joint state controller.
// "ros_controllers" is the resource index from where to look for controllers
// "ros_controllers::JointStateController" is the class we want to load
// "my_robot_joint_state_controller" is the name for the node to spawn
cm.load_controller(
"ros_controllers",
"ros_controllers::JointStateController",
"my_robot_joint_state_controller");
// load the trajectory controller
cm.load_controller(
"ros_controllers",
"ros_controllers::JointTrajectoryController",
"my_robot_joint_trajectory_controller");
// there is no async spinner in ROS 2, so we have to put the spin() in its own thread
auto future_handle = std::async(std::launch::async, spin, executor);
// we can either configure each controller individually through its services
// or we use the controller manager to configure every loaded controller
if (cm.configure() != controller_interface::CONTROLLER_INTERFACE_RET_SUCCESS) {
RCUTILS_LOG_ERROR("at least one controller failed to configure")
return -1;
}
// and activate all controller
if (cm.activate() != controller_interface::CONTROLLER_INTERFACE_RET_SUCCESS) {
RCUTILS_LOG_ERROR("at least one controller failed to activate")
return -1;
}
// main loop
hardware_interface::hardware_interface_ret_t ret;
while (active) {
ret = my_robot->read();
if (ret != hardware_interface::HW_RET_OK) {
fprintf(stderr, "read failed!\n");
}
cm.update();
ret = my_robot->write();
if (ret != hardware_interface::HW_RET_OK) {
fprintf(stderr, "write failed!\n");
}
r.sleep();
}
executor->cancel();
}
CONTRIBUTING
Contributing Guidelines
Thank you for your interest in contributing to ros2_control
.
Whether it’s a bug report, new feature, correction, or additional
documentation, we greatly value feedback and contributions from our community.
Please read through this document before submitting any issues or pull requests to ensure we have all the necessary information to effectively respond to your bug report or contribution.
Reporting Bugs/Feature Requests
We welcome you to use the GitHub issue tracker to report bugs or suggest features.
When filing an issue, please check existing open, or recently closed, issues to make sure somebody else hasn’t already reported the issue. Please try to include as much information as you can. Details like these are incredibly useful:
- A reproducible test case or series of steps
- The version of our code being used
- Any modifications you’ve made relevant to the bug
- Anything unusual about your environment or deployment
Contributing via Pull Requests
Contributions via pull requests are much appreciated. Before sending us a pull request, please ensure that:
- You are working against the latest source on the master branch.
- You check existing open, and recently merged, pull requests to make sure someone else hasn’t addressed the problem already.
- You open an issue to discuss any significant work - we would hate for your time to be wasted.
To send us a pull request, please:
- Fork the repository.
- Modify the source; please focus on the specific change you are contributing. If you also reformat all the code, it will be hard for us to focus on your change.
- Ensure local tests pass.
- Commit to your fork using clear commit messages.
- Send a pull request, answering any default questions in the pull request interface.
- Pay attention to any automated CI failures reported in the pull request, and stay involved in the conversation.
GitHub provides additional documentation on forking a repository and creating a pull request.
Finding contributions to work on
Looking at the existing issues is a great way to find something to contribute on. As this project, by default, uses the default GitHub issue labels (enhancement/bug/duplicate/help wanted/invalid/question/wontfix), looking at any ‘help wanted’ issues is a great place to start.
Licensing
Any contribution that you make to this repository will be under the Apache 2 License, as dictated by that license:
5. Submission of Contributions. Unless You explicitly state otherwise,
any Contribution intentionally submitted for inclusion in the Work
by You to the Licensor shall be under the terms and conditions of
this License, without any additional terms or conditions.
Notwithstanding the above, nothing herein shall supersede or modify
the terms of any separate license agreement you may have executed
with Licensor regarding such Contributions.
Repository Summary
Checkout URI | https://github.com/ros-controls/ros2_control.git |
VCS Type | git |
VCS Version | galactic |
Last Updated | 2022-08-03 |
Dev Status | DEVELOPED |
CI status | No Continuous Integration |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Packages
Name | Version |
---|---|
controller_interface | 1.6.0 |
controller_manager | 1.6.0 |
controller_manager_msgs | 1.6.0 |
hardware_interface | 1.6.0 |
joint_limits_interface | 0.0.0 |
ros2_control | 1.6.0 |
ros2_control_test_assets | 1.6.0 |
ros2controlcli | 1.6.0 |
transmission_interface | 1.6.0 |
README
ros2_control
Foxy | Galactic | Rolling | |
---|---|---|---|
Branch | foxy |
master |
TBD |
CI | TBD | Linux: | TBD |
Linters | TBD | TBD |
About
This package is a part of the ros2_control framework. For more, please check the documentation.
Acknowledgements
Supported by ROSIN - ROS-Industrial Quality-Assured Robot Software Components. More information: rosin-project.eu
This project has received funding from the European Union’s Horizon 2020 research and innovation programme under grant agreement no. 732287.
CONTRIBUTING
Contributing Guidelines
Thank you for your interest in contributing to ros2_control
.
Whether it’s a bug report, new feature, correction, or additional
documentation, we greatly value feedback and contributions from our community.
Please read through this document before submitting any issues or pull requests to ensure we have all the necessary information to effectively respond to your bug report or contribution.
Reporting Bugs/Feature Requests
We welcome you to use the GitHub issue tracker to report bugs or suggest features.
When filing an issue, please check existing open, or recently closed, issues to make sure somebody else hasn’t already reported the issue. Please try to include as much information as you can. Details like these are incredibly useful:
- A reproducible test case or series of steps
- The version of our code being used
- Any modifications you’ve made relevant to the bug
- Anything unusual about your environment or deployment
Contributing via Pull Requests
The following guidance should be up-to-date, but the documentation as found here should prove as the final say.
Contributions via pull requests are much appreciated. Before sending us a pull request, please ensure that:
- Limited scope. Your PR should do one thing or one set of things. Avoid adding “random fixes” to PRs. Put those on separate PRs.
- Give your PR a descriptive title. Add a short summary, if required.
- Make sure the pipeline is green.
- Don’t be afraid to request reviews from maintainers.
- New code = new tests. If you are adding new functionality, always make sure to add some tests exercising the code and serving as live documentation of your original intention.
To send us a pull request, please:
- Fork the repository.
- Modify the source; please focus on the specific change you are contributing. If you also reformat all the code, it will be hard for us to focus on your change.
- Ensure local tests pass. (
colcon test
andpre-commit run
(requires you to install pre-commit bypip3 install pre-commit
) - Commit to your fork using clear commit messages.
- Send a pull request, answering any default questions in the pull request interface.
- Pay attention to any automated CI failures reported in the pull request, and stay involved in the conversation.
GitHub provides additional documentation on forking a repository and creating a pull request.
Finding contributions to work on
Looking at the existing issues is a great way to find something to contribute on. As this project, by default, uses the default GitHub issue labels (enhancement/bug/duplicate/help wanted/invalid/question/wontfix), looking at any ‘help wanted’ issues is a great place to start.
Licensing
Any contribution that you make to this repository will be under the Apache 2 License, as dictated by that license:
5. Submission of Contributions. Unless You explicitly state otherwise,
any Contribution intentionally submitted for inclusion in the Work
by You to the Licensor shall be under the terms and conditions of
this License, without any additional terms or conditions.
Notwithstanding the above, nothing herein shall supersede or modify
the terms of any separate license agreement you may have executed
with Licensor regarding such Contributions.
Repository Summary
Checkout URI | https://github.com/ros-controls/ros2_control.git |
VCS Type | git |
VCS Version | foxy |
Last Updated | 2022-11-17 |
Dev Status | DEVELOPED |
CI status | No Continuous Integration |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Packages
Name | Version |
---|---|
controller_interface | 0.11.0 |
controller_manager | 0.11.0 |
controller_manager_msgs | 0.11.0 |
hardware_interface | 0.11.0 |
joint_limits_interface | 0.0.0 |
ros2_control | 0.11.0 |
ros2_control_test_assets | 0.11.0 |
ros2controlcli | 0.11.0 |
transmission_interface | 0.11.0 |
README
ros2_control
Foxy | Rolling | |
---|---|---|
Branch | foxy |
TBD |
CI | Linux: | TBD |
Linters | TBD |
About
This package is a part of the ros2_control framework. For more, please check the documentation.
Acknowledgements
Supported by ROSIN - ROS-Industrial Quality-Assured Robot Software Components. More information: rosin-project.eu
This project has received funding from the European Union’s Horizon 2020 research and innovation programme under grant agreement no. 732287.
CONTRIBUTING
Contributing Guidelines
Thank you for your interest in contributing to ros2_control
.
Whether it’s a bug report, new feature, correction, or additional
documentation, we greatly value feedback and contributions from our community.
Please read through this document before submitting any issues or pull requests to ensure we have all the necessary information to effectively respond to your bug report or contribution.
Reporting Bugs/Feature Requests
We welcome you to use the GitHub issue tracker to report bugs or suggest features.
When filing an issue, please check existing open, or recently closed, issues to make sure somebody else hasn’t already reported the issue. Please try to include as much information as you can. Details like these are incredibly useful:
- A reproducible test case or series of steps
- The version of our code being used
- Any modifications you’ve made relevant to the bug
- Anything unusual about your environment or deployment
Contributing via Pull Requests
The following guidance should be up-to-date, but the documentation as found here should prove as the final say.
Contributions via pull requests are much appreciated. Before sending us a pull request, please ensure that:
- Limited scope. Your PR should do one thing or one set of things. Avoid adding “random fixes” to PRs. Put those on separate PRs.
- Give your PR a descriptive title. Add a short summary, if required.
- Make sure the pipeline is green.
- Don’t be afraid to request reviews from maintainers.
- New code = new tests. If you are adding new functionality, always make sure to add some tests exercising the code and serving as live documentation of your original intention.
To send us a pull request, please:
- Fork the repository.
- Modify the source; please focus on the specific change you are contributing. If you also reformat all the code, it will be hard for us to focus on your change.
- Ensure local tests pass. (
colcon test
andpre-commit run
(requires you to install pre-commit bypip3 install pre-commit
) - Commit to your fork using clear commit messages.
- Send a pull request, answering any default questions in the pull request interface.
- Pay attention to any automated CI failures reported in the pull request, and stay involved in the conversation.
GitHub provides additional documentation on forking a repository and creating a pull request.
Finding contributions to work on
Looking at the existing issues is a great way to find something to contribute on. As this project, by default, uses the default GitHub issue labels (enhancement/bug/duplicate/help wanted/invalid/question/wontfix), looking at any ‘help wanted’ issues is a great place to start.
Licensing
Any contribution that you make to this repository will be under the Apache 2 License, as dictated by that license:
5. Submission of Contributions. Unless You explicitly state otherwise,
any Contribution intentionally submitted for inclusion in the Work
by You to the Licensor shall be under the terms and conditions of
this License, without any additional terms or conditions.
Notwithstanding the above, nothing herein shall supersede or modify
the terms of any separate license agreement you may have executed
with Licensor regarding such Contributions.