ROS Programming: Building Powerful Robots

pr2_controller_manager

The pr2_controller_manager package can load/unload the controller in a hard real-time loop. The controller manager also ensures that the controller will not set a goal value that is less than or greater than the safety limits of the joint. The controller manager also publishes the states of the joint in the /joint_state (sensor_msgs/JointState) topic at a default rate of 100 Hz.

The following figure shows the basic workflow of a controller manager:

Figure 2: Working of controller manager

The controller manager can load/unload a plugin. When a controller is loaded by the controller manager, it will first initialize it, ...