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Integrating custom controller to ros_control package

asked 2020-07-18 11:07:14 -0500

abata gravatar image

Hi everyone,

I am new to ROS and ros_control and I don't know how to integrate my custom controller into to the ros_control package. I have implemented this tutorial and everything works OK. I can run default/existing controllers but I need to know how I can merge my new controller to the controller_manager. In my workspace within src folder, I have three folders: rrbot_control, rrbot_description, and rrbot_gazebo and each has its own CMakeLists.txt and package.xml files.

Right now I have a .cpp file of my new controller:

1) Where should I put it (in which folder)?

2) Shall I change CMakeLists.txt and package.xml files? and how?

I'm using ROS melodic and ubuntu 18.04. Thanks a lot for your help.

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answered 2020-07-21 06:44:31 -0500

abata gravatar image

I found this video and it is the answer to my question :)


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Asked: 2020-07-18 11:00:48 -0500

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Last updated: Jul 21 '20