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Differences between ros_control and arbotix driver package

asked 2017-04-27 22:31:46 -0600

shawnysh gravatar image

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1, I wonder what are the differences or similarities between ros_control and arbotix driver.

2, Does arbotix driver belong to firmware for harware ? In other words, it belongs to hardware_interface:RobotHW ?

3, ros_control covers the controller_manager and harware resource interface layer ?

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answered 2017-04-28 07:27:58 -0600

updated 2017-05-03 08:19:21 -0600

ros_control is a generic robot controller package, whereas arbotix_driver is a package designed for a specific hardware device.

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Thanks for your quick reply. I wonder why in book, ros by example volume 2, it never mentions ros_control, but uses arbotix package instead, it completes the motion planning and execution along with moveit. It seems like arbotix completes the jobs including controller manager and hardware_interface

shawnysh gravatar image shawnysh  ( 2017-04-29 02:51:59 -0600 )edit

I have not read the book, but there are many reason why a book would not include a specific ros package. (Publication date, specific robot packages etc)

gstavrinos gravatar image gstavrinos  ( 2017-05-02 03:36:20 -0600 )edit

I check arbotix package, I notice that

The arbotix_python package also offers several controllers which add higher-level interfaces to common hardware

Does it mean arbotix package cover the functionalities of ros_control? Link to arbotix_python

shawnysh gravatar image shawnysh  ( 2017-05-03 08:02:22 -0600 )edit

From a quick look to the source code, arbotix_python seems to be independent of ros _control, and does not seem to implement the hardware_interface interface. Thus, it should be used only with very specific hardware.

gstavrinos gravatar image gstavrinos  ( 2017-05-03 08:18:46 -0600 )edit

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Asked: 2017-04-27 22:31:46 -0600

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Last updated: May 03 '17