Is there some stable format for writting a controller in ROS ? [closed]

asked 2012-03-29 05:16:19 -0500

maruchi gravatar image

updated 2012-03-29 05:17:08 -0500


I have been writing a few controllers for the 2D-motion robot: backstepping for trajectory following, backstepping and LQR for path following given by way points using Line of Sight (LOS) guidance law.

During implementing the controllers, I have been advised about the importance of the update rate in ODE: make the update rate in controller faster or equal to the update rate in ODE.

For writing the controllers, I have used two formats, but some format works others does not work depending on controllers. If you know some stable formats of writing controller, could you let me know them ?


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Closed for the following reason question is not relevant or outdated by tfoote
close date 2013-12-29 13:14:17


please be a bit more specific about what you want to do with the controllers? e.g. what sensor information is used for feedback? are you commanding joint torques or link pose based on joint velocity, what update rate is required, etc. Also, please explain what you mean by "two formats". Thanks.

hsu gravatar image hsu  ( 2012-03-30 10:53:32 -0500 )edit

Hi Hsu, I was able to make my controllers work in gazebo simulation by adjusting "updateRate". For the topics of multirobot simulation, Hsu, could you let me know some tutorial or best practice ? I have quadrotor and hovercraft available and make both of them be simulated simultaneously in gazebo.

maruchi gravatar image maruchi  ( 2012-04-03 05:31:56 -0500 )edit