ros2_controllers

GitHub Repository

Nomenclature

The ros2_control framework uses namespaces to sort controller according to the type of command interface they are using. The controllers are using common hardware interface definitions. The controllers’ namespaces are commanding 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

• …

Guidelines and Best Practices

• Writing a new controller

Available Controllers

• Admittance Controller
• Tricycle Controller
• Differential Drive Controller
• Forward Command Controller
• Joint Trajectory Controller
• Position Controllers
• Velocity Controllers
• Effort Controllers

Available Broadcasters

• Joint State Broadcaster
• Imu Sensor Broadcaster
• Force Torque Sensor Broadcaster