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

• Ackermann Steering Controller
• Admittance Controller
• Bicycle Steering Controller
• Differential Drive Controller
• Effort Controllers
• Forward Command Controller
• Gripper Controller
• Joint Trajectory Controller
  • Trajectory Representation
  • Trajectory Replacement
  • joint_trajectory_controller Parameters
• Position Controllers
• Steering Controllers Library
• Tricycle Controller
• Tricycle Steering Controller
• Velocity Controllers

Available Broadcasters

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