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How to use ControllerManager? (from ros_control)

asked 2014-10-10 12:34:43 -0500

arennuit gravatar image

updated 2014-10-14 02:29:36 -0500

Hi all,

I am looking for an example of how to use controller_manager::ControllerManager. I have read a tutorial on implementing one's own hardware interface (see here) and there is a few lines of code (including a main function) related to my problem. But unfortunately I do not understand where this main function should lie (is it into a specific node?). I am not too sure either how it should articulate with the controller_manager spawner node instantiated in the launch file.

I have checked several repos (like D. Coleman's baxter, and the husky ros files...) but could not find any code relevant to me.

Is there any example somewhere showing me how to use the ControllerManager in c++?

--- EDIT --- To put it another way here it shows a main() implementing the logic of the robot read/write and controllers update. But who starts the app corresponding to the main? Is this a node? And external app? Something else?



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answered 2014-10-14 05:35:33 -0500

Adolfo Rodriguez T gravatar image

The example quoted in the question is a decent one, as it's possibly the simplest setting. There are a few practical details missing, but it gives a good idea of what needs to be done.

A similar but more complete example is detailed in the ROSCON 2014 talk entitled ROS control: an overview (program with slides and video). Here you can see how the main function initializes a ros node, which you can then launch via rosrun/roslauch. Let us know if you still have questions along these lines.

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Ha! I believe your second example is relevant, I will look into deeper. Thanks!

arennuit gravatar image arennuit  ( 2014-10-14 05:54:24 -0500 )edit

Was the example detailed enough to answer your question?. If so, please mark it as such, otherwise the robot-control SIG is the best place to continue a more detailed discussion. Thanks!.

Adolfo Rodriguez T gravatar image Adolfo Rodriguez T  ( 2014-10-16 02:25:00 -0500 )edit

This is done!

arennuit gravatar image arennuit  ( 2014-10-16 07:12:28 -0500 )edit

answered 2014-10-14 04:07:44 -0500

gvdhoorn gravatar image

Antoine, you might want to send a message to the ros-sig-robot-control. The current maintainers and authors of the framework are regular posters there.

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Hi Gijs, I thought that so long the question was tagged in ros answers it was ok. But you are right, I'd rather go to the specialists' sig. Thanks ;)

arennuit gravatar image arennuit  ( 2014-10-14 05:08:25 -0500 )edit

@arennuit. The preferred channel for posting ros_control related questions is the SIG. We try to keep an open eye on ros-answers, to not impose any single alternative, but the signal to noise ratio is much better on the SIG. Thanks!

Adolfo Rodriguez T gravatar image Adolfo Rodriguez T  ( 2014-10-14 05:26:35 -0500 )edit

Hi Adolfo, understood, thanks ;)

arennuit gravatar image arennuit  ( 2014-10-14 05:48:53 -0500 )edit

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Asked: 2014-10-10 12:34:43 -0500

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Last updated: Oct 14 '14