The basic prerequisites for writing a ROS controller are already installed and we have discussed the underlying concepts of controllers. Now we can start creating a package for our own controller.
We are going to develop a controller that can access a joint of the robot and move the robot in a sinusoidal fashion.
The procedure of building a controller is similar to other plugin development that we have seen earlier. The list of procedures to create a ROS controller is given as follows:
package.xmlfor exporting the plugin