ROS Programming: Building Powerful Robots

Step 8 – Building controller

After completing the CMakeLists.txt, we can build our controller using the catkin_make command. After building, check that the controller is configured as a plugin using rospack command, as given in the following:

$ rospack plugins --attrib=plugin pr2_controller_interface

If everything has been performed correctly, the output may look like the following:

Figure 3: List of controllers in the system