You're reading the documentation for a development version. For the latest released version, please have a look at Iron.

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

• Writing a new controller

Controllers for Mobile Robots

• Ackermann Steering Controller
• Bicycle Steering Controller
• Differential Drive Controller
• Steering Controllers Library
• Tricycle Controller
• Tricycle Steering Controller

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

• Admittance Controller
• Effort Controllers
• Forward Command Controller
• Gripper Controller
• Joint Trajectory Controller
  • Trajectory Representation
  • Trajectory Replacement
  • joint_trajectory_controller Parameters
  • rqt_joint_trajectory_controller
• PID Controller
• Position Controllers
• Velocity Controllers

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.

• Force Torque Sensor Broadcaster
• IMU Sensor Broadcaster
• Joint State Broadcaster
• Range Sensor Broadcaster

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.