Build a controller from scratch
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?