ROS Resources: Documentation | Support | Discussion Forum | Index | Service Status | ros @ Robotics Stack Exchange

Attention: Answers.ros.org is deprecated as of August the 11th, 2023. Please visit robotics.stackexchange.com to ask a new question. This site will remain online in read-only mode during the transition and into the foreseeable future. Selected questions and answers have been migrated, and redirects have been put in place to direct users to the corresponding questions on Robotics Stack Exchange. Additional details are available here.

1

Build a controller from scratch

asked 2011-03-23 23:37:12 -0500

mbj
197 ●16 ●18 ●26

Hi everybody!

After making a "stable" URDF of the robot that I want to simulate and make some tests with it in Gazebo, I'm trying to build a controller for teleop with it. Searching in the web I only found manuals and references from the pr2_controller.

It is essential inherit and implement PR2 classes like pr2_controller_manager, pr2_controller_interface...? There is any generic driver base? Actuators are essential?

Can anyone put some order into this chaos and explain briefly the steps in this process?

edit retag flag offensive close merge delete

2 Answers

Sort by » oldest newest most voted

4

answered 2011-03-24 05:59:19 -0500

sglaser
649 ●6 ●9 ●15

Hi,

Work your way through the pr2_mechanism tutorials. They describe how to implement and run a custom controller.

http://www.ros.org/wiki/pr2_mechanism/Tutorials

edit flag offensive delete link

0

answered 2011-03-25 05:10:08 -0500

hsu
5735 ●31 ●62 ●89

there's also an example in pr2_examples_gazebo package, take a look at the single_link example for a very simple controller implementation in gazebo.

edit flag offensive delete link

Question Tools

Stats

Asked: 2011-03-23 23:37:12 -0500

Seen: 488 times

Last updated: Mar 25 '11

Related questions

ROS Answers is licensed under Creative Commons Attribution 3.0 Content on this site is licensed under a Creative Commons Attribution Share Alike 3.0 license.

Powered by Askbot version 0.10.2