Cascade controller in ROS
Hey,
I am currently trying to simulate my robot in Gazebo with ROS. I know about ros_control and all the given controllers and they are working fine. But the actual robot i want to simulate has more complex controllers than just one pid. Did anyone manage to implement a cascade controller in ROS or maybe has an Idea how to start? I already have created a simple custom controller an was able to load it with the controller manager. But i don't know how to implement the cascade structure... I am using Rosdistro melodic version 1.14.5 on Ubuntu 18.04
Thanks!
Any update on this ? I am trying to achieve something like this,