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How are ros_control controllers and hardware_interfaces used?

asked 2014-08-26 09:18:05 -0500

arennuit gravatar image

Dear all,

The doc for ros_control says ros_control provides controller interfaces. Does that mean ros_control abstracts real controllers?

  • I noticed ros_control also provides software controllers? I guess these are mostly used for simulation or for cheap control in real life, is that right?
  • Now, are the controllers interfaces (i.e. controllers abstractions) used both in case of real hardware drivers and in case of ros_control emulated controllers?

Thanks,

Antoine.

PS: please note that I have read all the doc I could find for ros_control (both in the wiki or on github).

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Is this question still valid or can it be closed?. Since it was asked many interactions have taken place in the robot control SIG.

Adolfo Rodriguez T gravatar imageAdolfo Rodriguez T ( 2015-01-23 02:57:56 -0500 )edit

You are right, this question is now answered below.

arennuit gravatar imagearennuit ( 2015-01-23 03:32:00 -0500 )edit

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answered 2015-01-23 03:31:28 -0500

arennuit gravatar image

All answers to this question can be found in Adolfo Rodriguez's RosCon 2014 lecture

Regards,

Antoine.

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Asked: 2014-08-26 09:18:05 -0500

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Last updated: Jan 23 '15