Skip to content

Latest commit

 

History

History
85 lines (58 loc) · 3.85 KB

controllers_index.rst

File metadata and controls

85 lines (58 loc) · 3.85 KB
github_url:https://github.com/ros-controls/ros2_controllers/blob/{REPOS_FILE_BRANCH}/doc/controllers_index.rst

ros2_controllers

Commonly used and generalized controllers for ros2_control framework that are ready to use with many robots, MoveIt2 and Nav2.

Link to GitHub Repository

Guidelines and Best Practices

.. toctree::
   :titlesonly:

   mobile_robot_kinematics.rst
   writing_new_controller.rst

Controllers for Wheeled Mobile Robots

.. toctree::
   :titlesonly:

   Differential Drive Controller <../diff_drive_controller/doc/userdoc.rst>
   Mecanum Drive Controllers <../mecanum_drive_controller/doc/userdoc.rst>
   Steering Controllers Library <../steering_controllers_library/doc/userdoc.rst>
   Tricycle Controller <../tricycle_controller/doc/userdoc.rst>

Controllers for Manipulators and Other Robots

The controllers are using common hardware interface definitions, and may use namespaces depending on the following command interface types:

  • position_controllers: hardware_interface::HW_IF_POSITION
  • velocity_controller: hardware_interface::HW_IF_VELOCITY
  • effort_controllers: hardware_interface::HW_IF_ACCELERATION
  • effort_controllers: hardware_interface::HW_IF_EFFORT
.. toctree::
   :titlesonly:

   Admittance Controller <../admittance_controller/doc/userdoc.rst>
   Effort Controllers <../effort_controllers/doc/userdoc.rst>
   Forward Command Controller <../forward_command_controller/doc/userdoc.rst>
   Gripper Controller <../gripper_controllers/doc/userdoc.rst>
   Joint Trajectory Controller <../joint_trajectory_controller/doc/userdoc.rst>
   Parallel Gripper Controller <../parallel_gripper_controller/doc/userdoc.rst>
   PID Controller <../pid_controller/doc/userdoc.rst>
   Position Controllers <../position_controllers/doc/userdoc.rst>
   Velocity Controllers <../velocity_controllers/doc/userdoc.rst>
   Gpio Command Controller <../gpio_controllers/doc/userdoc.rst>

Broadcasters

Broadcasters are used to publish sensor data from hardware components to ROS topics. In the sense of ros2_control, broadcasters are still controllers using the same controller interface as the other controllers above.

.. toctree::
   :titlesonly:

   Force Torque Sensor Broadcaster <../force_torque_sensor_broadcaster/doc/userdoc.rst>
   IMU Sensor Broadcaster <../imu_sensor_broadcaster/doc/userdoc.rst>
   Joint State Broadcaster <../joint_state_broadcaster/doc/userdoc.rst>
   Range Sensor Broadcaster <../range_sensor_broadcaster/doc/userdoc.rst>
   Pose Broadcaster <../pose_broadcaster/doc/userdoc.rst>
   GPS Sensor Broadcaster <../gps_sensor_broadcaster/doc/userdoc.rst>

Common Controller Parameters

Every controller and broadcaster has a few common parameters. They are optional, but if needed they have to be set before onConfigure transition to inactive state, see lifecycle documents. Once the controllers are already loaded, this transition is done using the service configure_controller of the controller_manager.

  • update_rate: An unsigned integer parameter representing the rate at which every controller/broadcaster runs its update cycle. When unspecified, they run at the same frequency as the controller_manager.
  • is_async: A boolean parameter that is needed to specify if the controller update needs to run asynchronously.