rtt_ros_control repository

Repository Summary

Checkout URI https://github.com/orocos/rtt_ros_control.git
VCS Type git
VCS Version master
Last Updated 2017-12-14
Dev Status MAINTAINED
CI status No Continuous Integration
Released RELEASED
Package Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Packages

README

rtt_ros_control

This package contains RTT components which can be used to wrap ros-control-based controllers.

Design Candidate A

In order to re-use as much of the ros_control architecture as possible, the RTT components provided by this package each correspond to a type of joint command interface (i.e. Effort, Velocity, Postion, etc) and include a plugin loader which can load ros-control-based controllers dynamically at runtime via RTT operations.

For example, the EffortControllerWrapper contains an EffortJointInterface and a JointStateInterface. This requires replicating a lot of the content of the ros_control controller_manager, but does not include all of the interaction with the ROS parameter server and node handles.

Design Candidate B

An alternative approach could leave all of this in, and simply instantiate a controller manager inside of an orocos component. This would be the simplest implementation, but care would need to be taken to prevent the non-real-time parts of the controller_manager from interfering with the real-time process.

CONTRIBUTING

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