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Mastering ROS for Robotics Programming by Lentin Joseph

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Writing a basic real-time joint controller in ROS

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:

  • Create a ROS package with necessary dependencies
  • Write controller code in C++
  • Register or export the C++ class as plugin
  • Define the plugin definition in an XML file
  • Update the package.xml for exporting the plugin
  • Write ...

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