Mastering ROS for Robotics Programming - Second Edition

Writing a basic joint controller in ROS

The basic prerequisites for writing an ROS controller are already installed. 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. In particular, the first joint of the seven_dof_arm will follow a sinusoidal motion.

The procedure of building a controller is similar to other plugins development that we have seen earlier. The list of procedures to create an ROS controller is given as follows:

1. Create an ROS package with the necessary dependencies.
2. Write controller code in C++.
3. Register or export the C++ class as a plugin. ...