Robot Operating System Cookbook

Developing a custom controller

We will discuss how to build a controller for an arbitrary MAV. The message passing is managed by gazebo_controller_interface, and the motor dynamics are handled in gazebo_motor_model. Thus, the task of developing a custom controller can be reduced to subscribing to state estimator messages, reference commands, and publishing actuator messages on the command/motor_speed topic. Alternatively, we can also execute the RollPitchYawrate-ThrustController and develop a custom position controller that publishes MultiDOFJointTrajectory messages. Here, the custom position controller subscribes to MultiDOFJointTrajectory messages as a control input, whereas the roll-pitch-yawrate-thrust controller subscribes to RollPitchYaw-rateThrust ...