ROS Programming: Building Powerful Robots

Step 4 – Explanation of the controller source file

In this section, we can see the explanation of each section of the code:

/// Controller initialization in non-real-timebool MyControllerClass::init(pr2_mechanism_model::RobotState *robot,                            ros::NodeHandle &n){  std::string joint_name;  if (!n.getParam("joint_name", joint_name))  {

The preceding is the init() function definition of the controller. This will be called  when a controller is loaded by the controller manager. Inside the init() function, we are creating an instance of RobotState and NodeHandle , also retrieving a joint name for attaching our controller. This joint name is defined inside the controller configuration file. We can see the controller configuration file in the next section. ...