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ros_control: A generic and simple control framework for ROS

Bence Magyar; Sachin Chitta; Eitan Marder-Eppstein; Wim Meeussen; Vijay Pradeep; Adolfo Rodríguez Tsouroukdissian; Jonathan Bohren; David Coleman; Gennaro Raiola; Mathias Lüdtke; Enrique Fernandez Perdomo

In recent years the Robot Operating System (ROS) has become the 'de facto' standard framework for robotics software development. The `ros_control` framework provides the capability to implement and manage robot controllers with a focus on both _real-time performance_ and _sharing of controllers_ in a robot-agnostic way. The primary motivation for a sepate robot-control framework is the lack of realtime-safe communication layer in ROS. Furthermore, the framework implements solutions for controller-lifecycle and hardware resource management as well as abstractions on hardware interfaces with minimal assumptions on hardware or operating system. The clear, modular design of `ros_control` makes it ideal for both research and industrial use and has indeed seen many such applications to date. The idea of `ros_control` originates from the `pr2_controller_manager` framework specific to the PR2 robot but `ros_control` is fully robot-agnostic. Controllers expose standard ROS interfaces for out-of-the box 3rd party solutions to robotics problems like manipulation path planning (`MoveIt!`) and autonomous navigation (the `ROS navigation stack`). Hence, a robot made up of a mobile base and an arm that support `ros_control` doesn't need any additional code to be written, only a few controller configuration files and it is ready to navigate autonomously and do path planning for the arm. `ros_control` also provides several libraries to support writing custom controllers.

Files (5.7 MB)
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control_msgs.tar.gz
md5:9762af67fa7e360df2f25d48f0db30ce
46.9 kB Download
control_toolbox.tar.gz
md5:c7e856c8b5faf6dbab16537bc80a2cc2
398.6 kB Download
realtime_tools.tar.gz
md5:f13e74b1aeb52c1c540ce94f3eb8d7e8
283.0 kB Download
ros_control.tar.gz
md5:88a668e332c179c1fbf76876f43c2c0d
2.8 MB Download
ros_controllers.tar.gz
md5:7d315ff9e89fba576abf611b379d01d4
2.1 MB Download
urdf_geometry_parser.tar.gz
md5:9ff30004e4be75202ae36c2b87888277
34.3 kB Download
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