jhu-lcsr/rtt_ros_control

[WIP] A set of Orocos RTT components for loading ros_control-based controllers into a real-time Orocos process.

rtt_ros_control

This package contains RTT components which can be used to wrap ros-control-based controllers.

Design Candidate A

In order to re-use as much of the ros_control architecture as possible, the RTT components provided by this package each correspond to a type of joint command interface (i.e. Effort, Velocity, Postion, etc) and include a plugin loader which can load ros-control-based controllers dynamically at runtime via RTT operations.

For example, the EffortControllerWrapper contains an EffortJointInterface and a JointStateInterface. This requires replicating a lot of the content of the ros_control controller_manager, but does not include all of the interaction with the ROS parameter server and node handles.

Design Candidate B

An alternative approach could leave all of this in, and simply instantiate a controller manager inside of an orocos component. This would be the simplest implementation, but care would need to be taken to prevent the non-real-time parts of the controller_manager from interfering with the real-time process.

rtt_ros_control's Issues

ROS binary release?

Hi @jbohren,

would you mind if we fork this repo to the GitHub orocos organization and release the typekits into ROS indigo and ROS kinetic? This has been requested some time ago in orocos/rtt_ros_integration#58.

As there is only generated code in those packages we could simply recreate them in a new repo, but maybe https://github.com/orocos/rtt_ros_control can also serve as a collection of useful packages and examples related to RTT/ros_control integration that have been published in the past, like

• this repository
• https://github.com/skohlbr/rtt_ros_control_example
• https://github.com/kuka-isir/rtt_ros_control_embedded

Kind regards,
Johannes