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ros2_control

This is the documentation of the ros2_control framework core.

• Controller manager
• Concepts
  • Controller Chaining / Cascade Control
  • Joint Kinematics
  • Joint Limiting
  • Support for Asynchronous Updates
    • Asynchronous Controllers
    • Asynchronous Hardware Components
  • Different Clocks used by Controller Manager
• Hardware Components
  • Hardware Interface Types
  • Writing a Hardware Component
  • Different Update Rates
  • Asynchronous Execution
  • Semantic Components
  • Mock Components
  • Lifecycle of a Hardware Component
  • Handling of Errors During read() and write() Calls
• Guidelines and Best Practices
  • Debugging the Controller Manager and Plugins
  • Introspection of the ros2_control setup
  • Data Visualization

See also:

• GitHub Repository

• API Documentation