March 2018
Intermediate to advanced
1396 pages
42h 14m
English
book
ROS Programming: Building Powerful Robots
by Anil Mahtani, Luis Sanchez, Enrique Fernandez, Aaron Martinez, Lentin Joseph
Content preview from ROS Programming: Building Powerful Robots
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Understanding ros_control packages
In the preceding section, we discussed the pr2_mechanism packages which build the controllers for PR2. These packages are exclusively designed for PR2, but they will work in robots that are similar to PR2.
To make these packages more generic to all the robots, the pr2_mechanism packages rewritten and formed a new set of packages called ros_control (http://wiki.ros.org/ros_control).
The ros_control implement standard set of generic controllers such as effort_controllers , joint_state_controllers, position_controllers, and velocity controllers for any kind of robots.
We have already used these ROS controllers from ros_control in Chapter 11, Simulating Robots Using ROS and Gazebo. The ros_control is still in ...