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 the ros_control packages
The ros_control packages have the implementation of robot controllers, controller managers, hardware interface, different transmission interface, and control toolboxes. The ros_controls packages are composed of the following individual packages:
- control_toolbox: This package contains common modules (P.I.D and Sine) that can be used by all controllers
- controller_interface: This package contains the interface base class for controllers
- controller_manager: This package provides the infrastructure to load, unload, start, and stop controllers
- controller_manager_msgs: This package provides the message and service definition for the controller manager
- hardware_interface: This contains the base class for the ...