ros_control for hardware with PID controller
ros_control
is designed as an interface to create robot agnostic access to hardware with ros AND allow to have a (easily exchangeable) controller for the hardware.
For me it is unclear which kind of hardware is meant to be controlled with ros_control
and ros_controllers
.
For example consider any Dynamixel (assuming compatibility with the U2D2) servo with a U2D2. The U2D2 has its own PID controller (e.g. for position) for the servo. Is it still considerable to be good practice to write a hardware interface (hardware_interface::RobotHW
inheriting class as mentioned for example here) for this servo?
If so should the controller on the hardware be utilized or the a controller from the ros_controller
?