From 780a17a5b4aaf997cb19db3f9089383b979f188e Mon Sep 17 00:00:00 2001 From: bmagyar Date: Wed, 3 Jan 2024 05:32:33 +0000 Subject: [PATCH] deploy: 1d8bd318092b64a865e956bb88833f3fa18b031f --- foxy/.buildinfo | 2 +- .../acknowledgements/acknowledgements.doctree | Bin 7434 -> 7434 bytes .../doc/contributing/contributing.doctree | Bin 24361 -> 24361 bytes .../differences_to_ros1.doctree | Bin 34748 -> 34748 bytes .../getting_started/getting_started.doctree | Bin 50559 -> 50559 bytes foxy/.doctrees/doc/project_ideas.doctree | Bin 38260 -> 38260 bytes .../.doctrees/doc/resources/resources.doctree | Bin 67145 -> 67145 bytes .../controller_manager/doc/userdoc.doctree | Bin 9211 -> 9211 bytes .../doc/ros2_control/doc/index.doctree | Bin 5962 -> 5962 bytes .../doc/fake_components_userdoc.doctree | Bin 13533 -> 13533 bytes .../ros2controlcli/doc/userdoc.doctree | Bin 24766 -> 24766 bytes .../doc/ros2_control_demos/doc/index.doctree | Bin 12763 -> 12763 bytes 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Development Organisation and Communication -

Built on 2024-01-02 at 05:31 GMT

+

Built on 2024-01-03 at 05:31 GMT

diff --git a/galactic/searchindex.js b/galactic/searchindex.js index d75123ae633..53408c8f5e9 100644 --- a/galactic/searchindex.js +++ b/galactic/searchindex.js @@ -1 +1 @@ -Search.setIndex({"docnames": ["doc/acknowledgements/acknowledgements", "doc/contributing/contributing", "doc/differences_to_ros1/differences_to_ros1", "doc/getting_started/getting_started", "doc/project_ideas", "doc/resources/resources", "doc/ros2_control/controller_manager/doc/userdoc", "doc/ros2_control/doc/index", "doc/ros2_control/hardware_interface/doc/fake_components_userdoc", "doc/ros2_control/hardware_interface/doc/hardware_components_userdoc", "doc/ros2_control/ros2controlcli/doc/userdoc", "doc/ros2_control_demos/doc/index", "doc/ros2_controllers/diff_drive_controller/doc/userdoc", "doc/ros2_controllers/doc/controllers_index", "doc/ros2_controllers/doc/writing_new_controller", "doc/ros2_controllers/effort_controllers/doc/userdoc", "doc/ros2_controllers/force_torque_sensor_broadcaster/doc/userdoc", 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0.82
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- + @@ -183,18 +183,18 @@

Maintainers -
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0.57
-
+
- + @@ -215,7 +215,7 @@

Maintainers -
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0.88 @@ -228,7 +228,7 @@

Maintainers
0.75
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+
- + @@ -308,18 +308,18 @@

Maintainers -
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0.31
-
+
- + @@ -340,7 +340,7 @@

Maintainers -
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0.87 @@ -353,7 +353,7 @@

Maintainers -
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0.97
-
+
@@ -639,7 +639,7 @@

Reviewers’ Stats
@@ -647,7 +647,7 @@

Reviewers’ Stats -
+
@@ -726,15 +726,15 @@

Reviewers’ Stats
- 0.13 + 0.12
-
+
@@ -813,7 +813,7 @@

Reviewers’ Stats
@@ -821,7 +821,7 @@

Reviewers’ Stats -
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@@ -871,7 +871,7 @@

Reviewers’ Stats
@@ -879,7 +879,7 @@

Reviewers’ Stats -
+
@@ -1277,7 +1277,7 @@

Reviewers’ Stats
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0.97
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0.01
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ros2 topic pub --rate 30 /diffbot_base_controller/cmd_vel_unstamped geometry_msgs/msg/Twist "linear:
-  x: 0.7
-  y: 0.0
-  z: 0.0
-angular:
-  x: 0.0
-  y: 0.0
-  z: 1.0"
+
ros2 topic pub --rate 30 /diffbot_base_controller/cmd_vel geometry_msgs/msg/TwistStamped "
+twist:
+  linear:
+    x: 0.7
+    y: 0.0
+    z: 0.0
+  angular:
+    x: 0.0
+    y: 0.0
+    z: 1.0"
 

 

 
You should now see an orange box circling in RViz.
diff --git a/humble/index.html b/humble/index.html
index 5b8e87a6d17..757def67484 100644
--- a/humble/index.html
+++ b/humble/index.html
@@ -148,7 +148,7 @@ 
Development Organisation and Communication
-
Built on 2024-01-02 at 05:31 GMT

+
Built on 2024-01-03 at 05:31 GMT

 
 
 
diff --git a/humble/searchindex.js b/humble/searchindex.js
index b8942ac64e4..3b5d5bbfb09 100644
--- a/humble/searchindex.js
+++ b/humble/searchindex.js
@@ -1 +1 @@
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27, 29, 30, 32, 33, 35, 43, 44, 49], "thoma": 1, "cokela": 1, "info": [1, 9, 11, 14, 27], "tutori": [1, 16], "sphinx": 1, "rest_syntax": 1, "html": 1, "id8": 1, "type": [1, 2, 3, 4, 5, 7, 8, 9, 10, 11, 14, 15, 16, 21, 22, 24, 25, 26, 27, 33, 34, 35, 36, 37, 40, 42, 45, 46, 47, 50], "stabl": 1, "against": 1, "accept": [1, 14, 23, 35, 36, 42, 43, 44, 45, 50], "api": [1, 3, 5, 6, 14, 18, 21, 22, 23, 24, 25, 26, 28], "abi": 1, "chang": [1, 2, 4, 7, 9, 11, 14, 15, 16, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 35, 42, 43, 44], "e": [1, 2, 4, 6, 7, 8, 9, 12, 13, 14, 16, 18, 19, 20, 21, 23, 24, 25, 26, 27, 28, 29, 31, 35, 36, 37, 41, 42, 43, 45, 47, 50, 53], "name": [1, 2, 3, 4, 5, 7, 9, 12, 13, 14, 15, 16, 18, 20, 21, 22, 24, 25, 26, 27, 29, 31, 35, 37, 38, 40, 41, 42, 46, 47], "convent": [1, 27], "master": [1, 4], "semi": 1, "binari": 1, "good": [1, 3, 5, 6], "same": [1, 8, 23, 27, 34, 37, 42, 43, 44], "build": [1, 14, 27, 31, 35], "dai": 1, "ros_distro": [1, 4, 16, 18], "foxi": [1, 7, 14], "galact": [1, 11, 14], "releas": [1, 4, 7, 16, 27], "version": [1, 6, 16, 44], "non": [1, 7, 20, 27, 37, 52], "brake": 1, "distribut": [1, 16, 53], "three": [1, 2, 4, 11, 12, 16, 27, 35, 43, 49], "stage": [1, 8, 20], "current": [1, 6, 11, 12, 14, 15, 43, 44, 47], "futur": [1, 7, 8, 43, 44], "compat": [1, 2, 7, 14, 16], "packag": [1, 2, 3, 5, 11, 14, 27, 30, 31, 32, 33, 35, 36, 37, 40, 44, 45, 46, 47, 49, 50, 53], "direct": [1, 2, 6, 14, 27, 35, 42], "local": [1, 3, 5, 17, 18, 20, 21, 22, 23, 24, 25, 26, 28, 29, 41], "possibl": [1, 4, 6, 9, 12, 16, 18, 21, 22, 23, 24, 25, 26, 28, 31, 35, 43], "core": [1, 10, 27], "immedi": [1, 18, 20, 21, 23, 24, 25, 26, 27, 28, 29], "depend": [1, 4, 11, 12, 14, 16, 17, 18, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 34, 35, 43, 47], "fail": [1, 23, 27], "expect": [1, 6, 20, 27, 30, 32, 44, 47, 49], "after": [1, 8, 9, 14, 16, 18, 27, 33, 35, 42, 43, 44, 47, 48], "next": [1, 18, 27, 43], "sync": 1, "abl": 1, "potenti": [1, 35, 42], "mid": 1, "stat": 1, "power": [1, 3, 5, 7, 14], "plausibl": 1, "analyt": 1, "robothw": 2, "rigid": 2, "ani": [2, 4, 7, 8, 9, 11, 12, 16, 20, 27, 35, 42, 44], "imposs": 2, "extend": [2, 4, 6, 8, 14, 35], "exist": [2, 4, 6, 8, 9, 11, 12, 14, 18, 21, 22, 23, 24, 25, 26, 27, 28, 35, 44], "addit": [2, 3, 5, 8, 16, 19, 22, 27], "sensor": [2, 4, 6, 11, 13, 14, 16, 21, 26, 27, 31, 34, 52], "actuat": [2, 4, 6, 11, 12, 13, 14, 16, 20], "tool": [2, 3, 5, 6, 7, 27], "without": [2, 3, 4, 5, 7, 13, 14, 16, 20, 29, 35, 42, 43], "combinedrobothardwar": 2, "drawback": [2, 53], "solut": [2, 7], "optim": [2, 9], "combin": [2, 8, 12, 13, 16, 23, 41, 42, 43, 44], "extern": [2, 4, 6, 8, 13, 16, 31], "defin": [2, 3, 5, 6, 9, 13, 14, 16, 27, 31, 35, 37, 40, 41, 42, 43, 44, 46, 47], "system": [2, 3, 4, 5, 6, 7, 11, 12, 14, 15, 16, 18, 20, 21, 22, 23, 24, 25, 26, 27, 28, 44, 51, 52, 53], "composit": [2, 7], "basic": [2, 3, 4, 5, 6, 7, 14, 16, 22, 35], "physic": [2, 4, 11, 12, 13], "cell": [2, 37], "surround": 2, "describ": [2, 4, 8, 12, 16, 18, 23, 27, 29, 43], "multi": [2, 4, 6, 7, 16, 23], "gripper": [2, 3, 4, 5, 7, 12, 13, 34], "out": [2, 3, 5, 9, 27, 33], "box": [2, 16, 18, 22, 23, 24, 25, 28, 29], "allow": [2, 3, 4, 5, 16, 27, 39, 42, 43, 44], "joint": [2, 4, 7, 16, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 38, 39, 41, 42, 43, 45, 47, 49, 50, 53], "posit": [2, 3, 4, 5, 7, 9, 12, 15, 16, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 31, 33, 34, 36, 41, 42, 43, 44, 45, 47, 50], "veloc": [2, 3, 4, 5, 7, 8, 16, 21, 22, 23, 27, 31, 32, 33, 34, 39, 40, 41, 42, 43, 44, 45, 47, 50], "effort": [2, 3, 5, 16, 27, 34, 36, 39, 41, 42, 44], "hard": [2, 9], "data": [2, 4, 6, 13, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 34, 41, 43], "approach": [2, 8], "doe": [2, 8, 9, 14, 18, 21, 22, 23, 24, 25, 26, 27, 28, 35, 43, 44], "enforc": [2, 23, 27, 42], "string": [2, 9, 13, 16, 35, 38, 39, 40, 41, 42, 46, 47], "ensur": [2, 7, 9, 27, 43], "constant": [2, 16], "hardware_interfac": [2, 3, 4, 5, 11, 13, 14, 16, 21, 24, 25, 26, 27, 31, 33, 34, 35], "In": [2, 3, 4, 5, 6, 7, 8, 14, 16, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 34, 35, 41, 43, 47], "had": 2, "itself": [2, 8], "took": 2, "care": [2, 6, 9, 14, 23, 35, 44], "regist": [2, 3, 5], "resourc": [2, 3, 5, 14, 23], "conflict": [2, 4, 6], "resourcemanag": [2, 8], "take": [2, 6, 8, 14, 20, 23, 33, 35, 41, 43], "state": [2, 3, 4, 5, 6, 7, 9, 11, 12, 13, 14, 15, 16, 18, 19, 20, 22, 23, 24, 25, 26, 27, 28, 29, 34, 35, 37, 41, 42], "avail": [2, 4, 7, 9, 15, 16, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 35, 41, 44], "enabl": [2, 4, 6, 7, 11, 14, 15, 16, 22, 31, 37, 47], "anymor": 2, "controllermanag": [2, 9], "implement": [2, 3, 4, 5, 6, 7, 9, 12, 13, 14, 16, 18, 20, 21, 22, 23, 24, 25, 26, 27, 28, 30, 31, 32, 33, 35, 38, 43, 44, 47, 48, 49, 53], "systeminterfac": [2, 3, 5, 13, 24, 27], "granular": 2, "sensorinterfac": [2, 21, 25], "actuatorinterfac": [2, 21, 26], "abov": [2, 18, 19, 20, 21, 22, 23, 24, 25, 26, 28, 29, 34, 43], "choos": [2, 16, 47], "suitabl": [2, 7], "strategi": [2, 16, 43], "decid": 2, "which": [2, 3, 4, 5, 6, 7, 9, 14, 15, 16, 18, 22, 23, 24, 25, 26, 27, 28, 29, 33, 35, 37, 40, 41, 42, 43, 44, 46, 47, 48], "case": [2, 3, 5, 6, 7, 8, 16, 20, 27, 35, 41, 43, 44, 53], "mayb": [2, 8], "sens": [2, 4, 34, 37], "multipl": [2, 4, 7, 8, 12, 14, 16, 41, 42], "constructor": [2, 14, 27, 35], "initi": [2, 14, 27, 35, 43], "variabl": [2, 14, 27, 35, 42], "need": [2, 3, 4, 5, 6, 7, 8, 12, 14, 16, 18, 21, 22, 23, 24, 25, 26, 27, 28, 35, 43], "commun": [2, 4, 6, 7, 14, 16, 18, 21, 22, 23, 24, 25, 27, 28, 52], "default": [2, 4, 8, 9, 13, 23, 30, 32, 38, 39, 40, 41, 42, 43, 44, 46, 47, 49], "configur": [2, 3, 4, 5, 6, 7, 8, 9, 11, 13, 15, 16, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 35, 41, 42, 43, 44, 47], "paramet": [2, 3, 5, 7, 14, 16, 18, 22, 27, 34, 35, 44], "pars": [2, 3, 5, 9, 10, 12], "urdf": [2, 7, 9, 12, 16, 18, 19, 20, 21, 22, 23, 24, 25, 26, 28, 29], "snippet": 2, "hardwareinfo": [2, 27], "here": [2, 10, 14, 27, 35, 36, 44, 45, 50], "cross": [2, 41], "valu": [2, 4, 6, 12, 13, 14, 16, 18, 19, 20, 22, 24, 25, 27, 29, 35, 40, 41, 42, 44, 46, 47], "export_": 2, "_interfac": [2, 14], "joint_a2": 2, "extract": [2, 33, 48], "sensibl": 2, "stop": [2, 7, 8, 9, 11, 15, 18, 22, 23, 27, 33, 42, 48], "usual": [2, 4, 9, 13, 14, 27, 35], "includ": [2, 3, 5, 6, 11, 14, 15, 27, 35, 44, 52], "command": [2, 3, 4, 5, 6, 7, 9, 10, 12, 13, 14, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 32, 33, 34, 35, 36, 38, 39, 42, 43, 45, 49, 50, 53], "safe": [2, 27, 33, 35, 44, 48], "interrupt": [2, 9], "stream": [2, 7], "write": [2, 4, 7, 8, 9, 10, 20, 21, 22, 26, 34], "exchang": [2, 6, 18, 21, 22, 23, 24, 25, 26, 28, 53], "equival": [2, 27], "forget": [2, 4, 16, 44], "pluginlib_export_class": [2, 14, 16, 27, 35], "macro": [2, 4, 14, 16, 27, 35], "end": [2, 4, 11, 14, 27, 35, 42, 52], "cpp": [2, 14, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 35], "file": [2, 3, 4, 5, 6, 7, 9, 13, 14, 16, 31, 33, 35, 36, 44, 45, 50], "creat": [2, 3, 4, 5, 7, 9, 13, 14, 16, 27, 35], "xml": [2, 3, 5, 11, 14, 27, 35], "librari": [2, 4, 14, 15, 16, 30, 32, 34, 35, 47, 49], "pluginlib": [2, 3, 4, 5, 9, 14, 27, 35], "exampl": [2, 3, 4, 5, 6, 7, 8, 13, 15, 22, 31, 36, 37, 41, 44, 45, 50, 53], "rrbotsystempositiononlyhardwar": [2, 4, 12, 15, 18, 20, 25], "excel": 2, "jointtrajectorycontrol": [2, 3, 5, 15, 18, 31, 44], "real": [2, 6, 7, 9, 13, 22, 35, 41, 42, 53], "critic": [2, 6], "mark": [2, 20], "controllerinterfac": [2, 4, 8, 15, 27, 35], "member": [2, 14, 27, 35, 43], "init": 2, "call": [2, 3, 4, 5, 8, 14, 22, 27, 35], "lifecycl": [2, 4, 7, 9, 11, 14, 27], "declar": [2, 14, 27, 35], "state_interface_configur": [2, 27, 35], "command_interface_configur": [2, 27, 35], "design": [2, 4, 6, 7, 8, 27, 53], "updat": [2, 4, 8, 9, 16, 27, 35, 44, 47], "manag": [2, 3, 5, 6, 7, 10, 11, 14, 15, 16, 27, 35, 44, 53], "option": [2, 3, 5, 9, 11, 13, 14, 15, 18, 23, 35, 37, 41, 44, 47], "on_configur": [2, 14, 27, 35], "on_activ": [2, 11, 14, 27, 35], "on_deactiv": [2, 11, 14, 27, 35], "deactiv": [2, 4, 15, 18, 42], "final": [2, 7, 11, 27], "joint_trajectory_plugin": 2, "integr": [3, 4, 5, 6, 7, 13, 16, 20, 22, 27, 42, 43, 44, 53], "architectur": [3, 5, 6, 7], "gazebo": [3, 5, 6, 16, 18, 29, 51], "classic": [3, 16, 29, 51], "provid": [3, 4, 5, 6, 7, 8, 9, 12, 13, 14, 16, 18, 20, 23, 24, 25, 26, 27, 28, 29, 31, 35, 41, 42, 43, 44, 47, 53], "instanti": [3, 5, 9], "connect": [3, 4, 5, 13, 16, 24, 27], "model": [3, 5, 18, 27], "cd": [3, 4, 5, 16, 27], "docker": [3, 5, 17, 18, 20, 21, 22, 23, 24, 25, 26, 28, 29], "gui": [3, 5, 16, 18, 20, 21, 23, 24, 25, 26, 28, 29], "properli": [3, 5, 8, 16, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29], "rm": [3, 4, 5, 16, 18, 29], "net": [3, 5, 7, 16, 18, 29], "host": [3, 5, 16, 18, 29, 52], "ros2": [3, 4, 5, 7, 9, 14, 15, 16, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 35], "launch": [3, 4, 5, 9, 13, 16, 18, 19, 20, 21, 22, 23, 24, 25, 26, 28, 29], "cart_example_posit": [3, 5], "py": [3, 5, 16, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29], "fals": [3, 5, 13, 16, 18, 29, 33, 39, 41, 42, 44, 47], "machin": [3, 4, 5, 6, 16, 29], "client": [3, 5, 29, 44], "gzclient": [3, 29], "rocker": [3, 5], "go": [3, 5, 7, 9, 14, 27, 35], "imag": [3, 5, 9, 29], "inject": [3, 5, 7], "nvidia": [3, 5], "And": 3, "user": [3, 5, 6, 9, 16, 27, 43], "id": [3, 5, 15, 18, 21, 22, 23, 24, 25, 26, 28], "specif": [3, 5, 6, 8, 9, 11, 12, 27, 29, 38, 41, 43, 44], "cleaner": [3, 5], "mount": [3, 5], "permiss": [3, 5, 9], "instal": [3, 5, 9, 14, 17, 18, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 35], "instruct": [3, 5, 22, 27, 29], "x11": [3, 5], "latest": [3, 4, 5], "move": [3, 5, 16, 18, 20, 21, 22, 23, 24, 25, 26, 28, 29, 39], "cart": [3, 5], "rail": [3, 5], "exec": [3, 5, 18], "bash": [3, 4, 5, 14, 16, 18, 27, 35], "home": [3, 5], "ros2_w": [3, 4, 5, 16], "example_posit": [3, 5], "element": [3, 5, 27], "access": [3, 4, 5, 7, 9, 13, 18, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 35, 41], "interfac": [3, 5, 6, 7, 8, 9, 10, 11, 13, 14, 16, 18, 20, 21, 22, 24, 25, 26, 29, 30, 32, 34, 35, 37, 40, 42, 43, 46, 49, 51, 52, 53], "gazebosystem": 3, "hardwar": [3, 5, 7, 8, 10, 13, 15, 16, 18, 19, 20, 21, 22, 23, 24, 25, 26, 28, 29, 33, 34, 35, 42, 48, 53], "slider_to_cart": [3, 5, 36, 45, 50], "command_interfac": [3, 4, 5, 12, 20, 27, 31, 42, 44], "param": [3, 4, 5, 9, 12, 13, 22, 27], "min": [3, 4, 5, 12, 27], "1000": [3, 5, 27], "max": [3, 4, 5, 12, 27, 39], "state_interfac": [3, 4, 5, 12, 27, 31, 42, 44], "initial_valu": [3, 5, 27], "mimick": [3, 5, 13], "manual": [3, 4, 5, 6, 9, 14, 16, 18, 23, 24, 25, 26, 28, 29, 35, 53], "multipli": [3, 5, 13], "definit": [3, 4, 5, 14, 27, 31, 33, 34, 35, 37, 42], "left_finger_joint": [3, 5], "prismat": [3, 5], "right_finger_joint": [3, 5], "axi": [3, 5, 6, 27, 30, 32, 33, 37, 49], "xyz": [3, 5, 27], "rpy": [3, 5, 27], "1415926535": [3, 5], "parent": [3, 5, 14, 27, 35], "base": [3, 4, 5, 7, 11, 14, 15, 16, 21, 22, 26, 27, 33, 35, 38, 47, 48, 51], "child": [3, 5, 12, 27], "finger_left": [3, 5], "lower": [3, 5, 27], "upper": [3, 5, 27], "actual": [3, 5, 8], "load": [3, 4, 5, 9, 14, 15, 16, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 35], "appropri": [3, 5, 6, 43], "By": [3, 5, 9, 27, 41, 43], "though": [3, 5, 20], "extens": [3, 5], "via": [3, 4, 5, 16, 18, 24, 25, 27, 29, 44], "between": [3, 4, 5, 6, 11, 12, 16, 27, 30, 32, 41, 42, 43, 44, 49], "filenam": [3, 5, 27], "libgazebo_ros2_control": 3, "so": [3, 4, 5, 8, 9, 14, 27, 31, 35, 44], "robot_param": [3, 5], "robot_descript": [3, 5, 9, 18, 27], "robot_param_nod": [3, 5], "robot_state_publish": [3, 5, 41], "config": [3, 5, 16], "cart_control": 3, "yaml": [3, 4, 5, 6, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 44], "locat": [3, 27, 31], "server": [3, 39, 44], "node": [3, 4, 5, 9, 11, 13, 15, 18, 21, 22, 23, 24, 25, 26, 27, 28, 29, 35], "attempt": [3, 5, 9, 44], "get": [3, 5, 7, 8, 9, 11, 14, 16, 18, 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gazebo_ros2_control Simulation Plugins": [[3, "advanced-custom-gazebo-ros2-control-simulation-plugins"]], "Set up controllers": [[3, "set-up-controllers"], [5, "set-up-controllers"]], "gazebo_ros2_control_demos": [[3, "gazebo-ros2-control-demos"]], "Getting Started": [[4, "getting-started"]], "Installation": [[4, "installation"], [16, "installation"]], "Binary packages": [[4, "binary-packages"]], "Building from Source": [[4, "building-from-source"]], "Architecture": [[4, "architecture"]], "Controller Manager": [[4, "controller-manager"], [9, "controller-manager"]], "Resource Manager": [[4, "resource-manager"]], "Controllers": [[4, "controllers"]], "User Interfaces": [[4, "user-interfaces"]], "Hardware Components": [[4, "hardware-components"], [11, "hardware-components"]], "Hardware Description in URDF": [[4, "hardware-description-in-urdf"]], "Running the Framework for Your Robot": [[4, "running-the-framework-for-your-robot"]], "gz_ros2_control": [[5, "gz-ros2-control"]], "Add the gz_ros2_control plugin": [[5, "add-the-gz-ros2-control-plugin"]], "Default gz_ros2_control Behavior": [[5, "default-gz-ros2-control-behavior"]], "Advanced: custom gz_ros2_control Simulation Plugins": [[5, "advanced-custom-gz-ros2-control-simulation-plugins"]], "gz_ros2_control_demos": [[5, "gz-ros2-control-demos"]], "Project Ideas for GSoC 2024": [[6, "project-ideas-for-gsoc-2024"]], "Tutorials and Demos for ros2_control": [[6, "tutorials-and-demos-for-ros2-control"]], "Mission-Control for ros2_control": [[6, "mission-control-for-ros2-control"]], "Add support for hardware semantic components": [[6, "add-support-for-hardware-semantic-components"]], "Feature-parity for controllers from ROS1": [[6, "feature-parity-for-controllers-from-ros1"]], "Resources": [[7, "resources"]], "Presentations": [[7, "presentations"]], "2023-02 ROS Meetup Munich #5": [[7, "ros-meetup-munich-5"]], "2022-12 ROS-Industrial Conference 2022": [[7, "ros-industrial-conference-2022"]], "2022-10 ROSCon 2022": [[7, "roscon-2022"]], "2022-06 ROSCon Fr 2022": [[7, "roscon-fr-2022"]], "2021-10 ROS World 2021": [[7, "ros-world-2021"]], "2021-10-07 Weekly Robotics Meetup #13": [[7, "weekly-robotics-meetup-13"]], "2021-06 ROSDevDay 2021": [[7, "rosdevday-2021"]], "2021-05 ROSCon Fr 2021": [[7, "roscon-fr-2021"]], "Diagrams": [[7, "diagrams"]], "Images": [[7, "images"]], "Controller Chaining / Cascade Control": [[8, "controller-chaining-cascade-control"]], "Scope of the Document and Background Knowledge": [[8, "scope-of-the-document-and-background-knowledge"]], "Motivation, Purpose and Use": [[8, "motivation-purpose-and-use"]], "Implementation": [[8, "implementation"]], "A Controller Base-Class: ChainableController": [[8, "a-controller-base-class-chainablecontroller"]], "Inner Resource Management": [[8, "inner-resource-management"]], "Activation and Deactivation Chained Controllers": [[8, "activation-and-deactivation-chained-controllers"]], "Debugging outputs": [[8, "debugging-outputs"]], "Closing remarks": [[8, "closing-remarks"]], "Determinism": [[9, "determinism"]], "Parameters": [[9, "parameters"], [13, "parameters"], [30, "parameters"], [31, "parameters"], [32, "parameters"], [33, "parameters"], [36, "parameters"], [37, "parameters"], [38, "parameters"], [39, "parameters"], [40, "parameters"], [41, "parameters"], [45, "parameters"], [46, "parameters"], [47, "parameters"], [49, "parameters"], [50, "parameters"]], "Helper scripts": [[9, "helper-scripts"]], "spawner": [[9, "spawner"]], "unspawner": [[9, "unspawner"]], "Using the Controller Manager in a Process": [[9, "using-the-controller-manager-in-a-process"]], "Concepts": [[9, "concepts"], [10, "concepts"]], "Restarting all controllers": [[9, "restarting-all-controllers"]], "Restarting hardware": [[9, "restarting-hardware"]], "ros2_control": [[10, "ros2-control"]], "API Documentation": [[10, "api-documentation"]], "Features": [[10, "features"]], "Guidelines and Best Practices": [[11, "guidelines-and-best-practices"], [34, "guidelines-and-best-practices"]], "Handling of errors that happen during read() and write() calls": [[11, "handling-of-errors-that-happen-during-read-and-write-calls"]], "Migration from Foxy to newer versions": [[11, "migration-from-foxy-to-newer-versions"]], "ros2_control hardware interface types": [[12, "ros2-control-hardware-interface-types"]], "Joints": [[12, "joints"]], "Sensors": [[12, "sensors"]], "GPIOs": [[12, "gpios"]], "Examples": [[12, "examples"], [16, "examples"]], "Mock Components": [[13, "mock-components"]], "Generic System": [[13, "generic-system"]], "Per-joint Parameters": [[13, "per-joint-parameters"]], "Writing a Hardware Component": [[14, "writing-a-hardware-component"]], "Useful External References": [[14, "useful-external-references"], [35, "useful-external-references"]], "Command Line Interface": [[15, "command-line-interface"]], "list_controllers": [[15, "list-controllers"]], "list_controller_types": [[15, "list-controller-types"]], "list_hardware_components": [[15, "list-hardware-components"]], "list_hardware_interfaces": [[15, "list-hardware-interfaces"]], "load_controller": [[15, "load-controller"]], "reload_controller_libraries": [[15, "reload-controller-libraries"]], "set_controller_state": [[15, "set-controller-state"]], "switch_controllers": [[15, "switch-controllers"]], "unload_controller": [[15, "unload-controller"]], "view_controller_chains": [[15, "view-controller-chains"]], "Demos": [[16, "demos"]], "What you can find in this repository": [[16, "what-you-can-find-in-this-repository"]], "Goals": [[16, "goals"]], "Examples Overview": [[16, "examples-overview"]], "Local installation": [[16, "local-installation"]], "Build from debian packages": [[16, "build-from-debian-packages"]], "Build from source": [[16, "build-from-source"]], "Using Docker": [[16, "using-docker"]], "To view the robot": [[16, "to-view-the-robot"]], "To run the ros2_control demos": [[16, "to-run-the-ros2-control-demos"]], "Quick Hints": [[16, "quick-hints"]], "Example 1: RRBot": [[18, "example-1-rrbot"]], "Tutorial steps": [[18, "tutorial-steps"], [20, "tutorial-steps"], [21, "tutorial-steps"], [22, "tutorial-steps"], [23, "tutorial-steps"], [24, "tutorial-steps"], [25, "tutorial-steps"], [26, "tutorial-steps"], [28, "tutorial-steps"], [29, "tutorial-steps"]], "Files used for this demos": [[18, "files-used-for-this-demos"], [19, "files-used-for-this-demos"], [20, "files-used-for-this-demos"], [21, "files-used-for-this-demos"], [22, "files-used-for-this-demos"], [23, "files-used-for-this-demos"], [25, "files-used-for-this-demos"], [26, "files-used-for-this-demos"], [28, "files-used-for-this-demos"], [29, "files-used-for-this-demos"]], "Controllers from this demo": [[18, "controllers-from-this-demo"], [19, "controllers-from-this-demo"], [20, "controllers-from-this-demo"], [21, "controllers-from-this-demo"], [22, "controllers-from-this-demo"], [23, "controllers-from-this-demo"], [24, "controllers-from-this-demo"], [25, "controllers-from-this-demo"], [26, "controllers-from-this-demo"], [28, "controllers-from-this-demo"], [29, "controllers-from-this-demo"]], "Example 10: Industrial robot with GPIO interfaces": [[19, "example-10-industrial-robot-with-gpio-interfaces"]], "Example 12: Controller chaining with RRBot": [[20, "example-12-controller-chaining-with-rrbot"]], "Example 14: Modular robot with actuators not providing states": [[21, "example-14-modular-robot-with-actuators-not-providing-states"]], "DiffBot": [[22, "diffbot"]], "Example 3: Robots with multiple interfaces": [[23, "example-3-robots-with-multiple-interfaces"]], "Example 4: Industrial robot with integrated sensor": [[24, "example-4-industrial-robot-with-integrated-sensor"]], "Files used for this demo": [[24, "files-used-for-this-demo"]], "Example 5: Industrial robot with externally connected sensor": [[25, "example-5-industrial-robot-with-externally-connected-sensor"]], "Example 6: Modular Robots with separate communication to each 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"exactli": 1, "cowboi": 1, "style": [1, 14, 35], "over": [1, 6, 8, 22, 27], "weekend": 1, "It": [1, 2, 3, 4, 6, 8, 9, 18, 20, 21, 23, 24, 25, 26, 27, 28, 29, 37, 41, 42, 43], "doesn": [1, 8], "matter": 1, "trivial": [1, 13], "chanc": 1, "proper": [1, 8, 9, 44], "Be": 1, "awar": 1, "impact": 1, "proport": [1, 42], "its": [1, 2, 3, 4, 5, 6, 7, 8, 9, 12, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 37, 38, 39, 40, 41, 43, 47, 49], "ping": 1, "them": [1, 6, 8, 9, 14, 17, 18, 20, 21, 22, 23, 24, 25, 26, 27, 28, 35, 41, 43, 52], "necessari": [1, 8, 11], "repeatedli": 1, "start": [1, 2, 3, 5, 7, 8, 9, 11, 16, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 35, 42, 43, 53], "part": [1, 6, 7, 12, 27, 35, 43, 44], "For": [1, 3, 4, 5, 6, 7, 8, 9, 11, 13, 14, 16, 17, 18, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 35, 42, 44, 47, 49], "detail": [1, 2, 3, 4, 5, 11, 12, 13, 14, 20, 27, 29, 30, 32, 33, 35, 43, 44, 49], "thoma": 1, "cokela": 1, "info": [1, 9, 11, 14, 27], "tutori": [1, 16], "sphinx": 1, "rest_syntax": 1, "html": 1, "id8": 1, "type": [1, 2, 3, 4, 5, 7, 8, 9, 10, 11, 14, 15, 16, 21, 22, 24, 25, 26, 27, 33, 34, 35, 36, 37, 40, 42, 45, 46, 47, 50], "stabl": 1, "against": 1, "accept": [1, 14, 23, 35, 36, 42, 43, 44, 45, 50], "api": [1, 3, 5, 6, 14, 18, 21, 22, 23, 24, 25, 26, 28], "abi": 1, "chang": [1, 2, 4, 7, 9, 11, 14, 15, 16, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 35, 42, 43, 44], "e": [1, 2, 4, 6, 7, 8, 9, 12, 13, 14, 16, 18, 19, 20, 21, 23, 24, 25, 26, 27, 28, 29, 31, 35, 36, 37, 41, 42, 43, 45, 47, 50, 53], "name": [1, 2, 3, 4, 5, 7, 9, 12, 13, 14, 15, 16, 18, 20, 21, 22, 24, 25, 26, 27, 29, 31, 35, 37, 38, 40, 41, 42, 46, 47], "convent": [1, 27], "master": [1, 4], "semi": 1, "binari": 1, "good": [1, 3, 5, 6], "same": [1, 8, 23, 27, 34, 37, 42, 43, 44], "build": [1, 14, 27, 31, 35], "dai": 1, "ros_distro": [1, 4, 16, 18], "foxi": [1, 7, 14], "galact": [1, 11, 14], "releas": [1, 4, 7, 16, 27], "version": [1, 6, 16, 44], "non": [1, 7, 20, 27, 37, 52], "brake": 1, "distribut": [1, 16, 53], "three": [1, 2, 4, 11, 12, 16, 27, 35, 43, 49], "stage": [1, 8, 20], "current": [1, 6, 11, 12, 14, 15, 43, 44, 47], "futur": [1, 7, 8, 43, 44], "compat": [1, 2, 7, 14, 16], "packag": [1, 2, 3, 5, 11, 14, 27, 30, 31, 32, 33, 35, 36, 37, 40, 44, 45, 46, 47, 49, 50, 53], "direct": [1, 2, 6, 14, 27, 35, 42], "local": [1, 3, 5, 17, 18, 20, 21, 22, 23, 24, 25, 26, 28, 29, 41], "possibl": [1, 4, 6, 9, 12, 16, 18, 21, 22, 23, 24, 25, 26, 28, 31, 35, 43], "core": [1, 10, 27], "immedi": [1, 18, 20, 21, 23, 24, 25, 26, 27, 28, 29], "depend": [1, 4, 11, 12, 14, 16, 17, 18, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 34, 35, 43, 47], "fail": [1, 23, 27], "expect": [1, 6, 20, 27, 30, 32, 44, 47, 49], "after": [1, 8, 9, 14, 16, 18, 27, 33, 35, 42, 43, 44, 47, 48], "next": [1, 18, 27, 43], "sync": 1, "abl": 1, "potenti": [1, 35, 42], "mid": 1, "stat": 1, "power": [1, 3, 5, 7, 14], "plausibl": 1, "analyt": 1, "robothw": 2, "rigid": 2, "ani": [2, 4, 7, 8, 9, 11, 12, 16, 20, 27, 35, 42, 44], "imposs": 2, "extend": [2, 4, 6, 8, 14, 35], "exist": [2, 4, 6, 8, 9, 11, 12, 14, 18, 21, 22, 23, 24, 25, 26, 27, 28, 35, 44], "addit": [2, 3, 5, 8, 16, 19, 22, 27], "sensor": [2, 4, 6, 11, 13, 14, 16, 21, 26, 27, 31, 34, 52], "actuat": [2, 4, 6, 11, 12, 13, 14, 16, 20], "tool": [2, 3, 5, 6, 7, 27], "without": [2, 3, 4, 5, 7, 13, 14, 16, 20, 29, 35, 42, 43], "combinedrobothardwar": 2, "drawback": [2, 53], "solut": [2, 7], "optim": [2, 9], "combin": [2, 8, 12, 13, 16, 23, 41, 42, 43, 44], "extern": [2, 4, 6, 8, 13, 16, 31], "defin": [2, 3, 5, 6, 9, 13, 14, 16, 27, 31, 35, 37, 40, 41, 42, 43, 44, 46, 47], "system": [2, 3, 4, 5, 6, 7, 11, 12, 14, 15, 16, 18, 20, 21, 22, 23, 24, 25, 26, 27, 28, 44, 51, 52, 53], "composit": [2, 7], "basic": [2, 3, 4, 5, 6, 7, 14, 16, 22, 35], "physic": [2, 4, 11, 12, 13], "cell": [2, 37], "surround": 2, "describ": [2, 4, 8, 12, 16, 18, 23, 27, 29, 43], "multi": [2, 4, 6, 7, 16, 23], "gripper": [2, 3, 4, 5, 7, 12, 13, 34], "out": [2, 3, 5, 9, 27, 33], "box": [2, 16, 18, 22, 23, 24, 25, 28, 29], "allow": [2, 3, 4, 5, 16, 27, 39, 42, 43, 44], "joint": [2, 4, 7, 16, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 38, 39, 41, 42, 43, 45, 47, 49, 50, 53], "posit": [2, 3, 4, 5, 7, 9, 12, 15, 16, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 31, 33, 34, 36, 41, 42, 43, 44, 45, 47, 50], "veloc": [2, 3, 4, 5, 7, 8, 16, 21, 22, 23, 27, 31, 32, 33, 34, 39, 40, 41, 42, 43, 44, 45, 47, 50], "effort": [2, 3, 5, 16, 27, 34, 36, 39, 41, 42, 44], "hard": [2, 9], "data": [2, 4, 6, 13, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 34, 41, 43], "approach": [2, 8], "doe": [2, 8, 9, 14, 18, 21, 22, 23, 24, 25, 26, 27, 28, 35, 43, 44], "enforc": [2, 23, 27, 42], "string": [2, 9, 13, 16, 35, 38, 39, 40, 41, 42, 46, 47], "ensur": [2, 7, 9, 27, 43], "constant": [2, 16], "hardware_interfac": [2, 3, 4, 5, 11, 13, 14, 16, 21, 24, 25, 26, 27, 31, 33, 34, 35], "In": [2, 3, 4, 5, 6, 7, 8, 14, 16, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 34, 35, 41, 43, 47], "had": 2, "itself": [2, 8], "took": 2, "care": [2, 6, 9, 14, 23, 35, 44], "regist": [2, 3, 5], "resourc": [2, 3, 5, 14, 23], "conflict": [2, 4, 6], "resourcemanag": [2, 8], "take": [2, 6, 8, 14, 20, 23, 33, 35, 41, 43], "state": [2, 3, 4, 5, 6, 7, 9, 11, 12, 13, 14, 15, 16, 18, 19, 20, 22, 23, 24, 25, 26, 27, 28, 29, 34, 35, 37, 41, 42], "avail": [2, 4, 7, 9, 15, 16, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 35, 41, 44], "enabl": [2, 4, 6, 7, 11, 14, 15, 16, 22, 31, 37, 47], "anymor": 2, "controllermanag": [2, 9], "implement": [2, 3, 4, 5, 6, 7, 9, 12, 13, 14, 16, 18, 20, 21, 22, 23, 24, 25, 26, 27, 28, 30, 31, 32, 33, 35, 38, 43, 44, 47, 48, 49, 53], "systeminterfac": [2, 3, 5, 13, 24, 27], "granular": 2, "sensorinterfac": [2, 21, 25], "actuatorinterfac": [2, 21, 26], "abov": [2, 18, 19, 20, 21, 22, 23, 24, 25, 26, 28, 29, 34, 43], "choos": [2, 16, 47], "suitabl": [2, 7], "strategi": [2, 16, 43], "decid": 2, "which": [2, 3, 4, 5, 6, 7, 9, 14, 15, 16, 18, 22, 23, 24, 25, 26, 27, 28, 29, 33, 35, 37, 40, 41, 42, 43, 44, 46, 47, 48], "case": [2, 3, 5, 6, 7, 8, 16, 20, 27, 35, 41, 43, 44, 53], "mayb": [2, 8], "sens": [2, 4, 34, 37], "multipl": [2, 4, 7, 8, 12, 14, 16, 41, 42], "constructor": [2, 14, 27, 35], "initi": [2, 14, 27, 35, 43], "variabl": [2, 14, 27, 35, 42], "need": [2, 3, 4, 5, 6, 7, 8, 12, 14, 16, 18, 21, 22, 23, 24, 25, 26, 27, 28, 35, 43], "commun": [2, 4, 6, 7, 14, 16, 18, 21, 22, 23, 24, 25, 27, 28, 52], "default": [2, 4, 8, 9, 13, 23, 30, 32, 38, 39, 40, 41, 42, 43, 44, 46, 47, 49], "configur": [2, 3, 4, 5, 6, 7, 8, 9, 11, 13, 15, 16, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 35, 41, 42, 43, 44, 47], "paramet": [2, 3, 5, 7, 14, 16, 18, 22, 27, 34, 35, 44], "pars": [2, 3, 5, 9, 10, 12], "urdf": [2, 7, 9, 12, 16, 18, 19, 20, 21, 22, 23, 24, 25, 26, 28, 29], "snippet": 2, "hardwareinfo": [2, 27], "here": [2, 10, 14, 27, 35, 36, 44, 45, 50], "cross": [2, 41], "valu": [2, 4, 6, 12, 13, 14, 16, 18, 19, 20, 22, 24, 25, 27, 29, 35, 40, 41, 42, 44, 46, 47], "export_": 2, "_interfac": [2, 14], "joint_a2": 2, "extract": [2, 33, 48], "sensibl": 2, "stop": [2, 7, 8, 9, 11, 15, 18, 22, 23, 27, 33, 42, 48], "usual": [2, 4, 9, 13, 14, 27, 35], "includ": [2, 3, 5, 6, 11, 14, 15, 27, 35, 44, 52], "command": [2, 3, 4, 5, 6, 7, 9, 10, 12, 13, 14, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 32, 33, 34, 35, 36, 38, 39, 42, 43, 45, 49, 50, 53], "safe": [2, 27, 33, 35, 44, 48], "interrupt": [2, 9], "stream": [2, 7], "write": [2, 4, 7, 8, 9, 10, 20, 21, 22, 26, 34], "exchang": [2, 6, 18, 21, 22, 23, 24, 25, 26, 28, 53], "equival": [2, 27], "forget": [2, 4, 16, 44], "pluginlib_export_class": [2, 14, 16, 27, 35], "macro": [2, 4, 14, 16, 27, 35], "end": [2, 4, 11, 14, 27, 35, 42, 52], "cpp": [2, 14, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 35], "file": [2, 3, 4, 5, 6, 7, 9, 13, 14, 16, 31, 33, 35, 36, 44, 45, 50], "creat": [2, 3, 4, 5, 7, 9, 13, 14, 16, 27, 35], "xml": [2, 3, 5, 11, 14, 27, 35], "librari": [2, 4, 14, 15, 16, 30, 32, 34, 35, 47, 49], "pluginlib": [2, 3, 4, 5, 9, 14, 27, 35], "exampl": [2, 3, 4, 5, 6, 7, 8, 13, 15, 22, 31, 36, 37, 41, 44, 45, 50, 53], "rrbotsystempositiononlyhardwar": [2, 4, 12, 15, 18, 20, 25], "excel": 2, "jointtrajectorycontrol": [2, 3, 5, 15, 18, 31, 44], "real": [2, 6, 7, 9, 13, 22, 35, 41, 42, 53], "critic": [2, 6], "mark": [2, 20], "controllerinterfac": [2, 4, 8, 15, 27, 35], "member": [2, 14, 27, 35, 43], "init": 2, "call": [2, 3, 4, 5, 8, 14, 22, 27, 35], "lifecycl": [2, 4, 7, 9, 11, 14, 27], "declar": [2, 14, 27, 35], "state_interface_configur": [2, 27, 35], "command_interface_configur": [2, 27, 35], "design": [2, 4, 6, 7, 8, 27, 53], "updat": [2, 4, 8, 9, 16, 27, 35, 44, 47], "manag": [2, 3, 5, 6, 7, 10, 11, 14, 15, 16, 27, 35, 44, 53], "option": [2, 3, 5, 9, 11, 13, 14, 15, 18, 23, 35, 37, 41, 44, 47], "on_configur": [2, 14, 27, 35], "on_activ": [2, 11, 14, 27, 35], "on_deactiv": [2, 11, 14, 27, 35], "deactiv": [2, 4, 15, 18, 42], "final": [2, 7, 11, 27], "joint_trajectory_plugin": 2, "integr": [3, 4, 5, 6, 7, 13, 16, 20, 22, 27, 42, 43, 44, 53], "architectur": [3, 5, 6, 7], "gazebo": [3, 5, 6, 16, 18, 29, 51], "classic": [3, 16, 29, 51], "provid": [3, 4, 5, 6, 7, 8, 9, 12, 13, 14, 16, 18, 20, 23, 24, 25, 26, 27, 28, 29, 31, 35, 41, 42, 43, 44, 47, 53], "instanti": [3, 5, 9], "connect": [3, 4, 5, 13, 16, 24, 27], "model": [3, 5, 18, 27], "cd": [3, 4, 5, 16, 27], "docker": [3, 5, 17, 18, 20, 21, 22, 23, 24, 25, 26, 28, 29], "gui": [3, 5, 16, 18, 20, 21, 23, 24, 25, 26, 28, 29], "properli": [3, 5, 8, 16, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29], "rm": [3, 4, 5, 16, 18, 29], "net": [3, 5, 7, 16, 18, 29], "host": [3, 5, 16, 18, 29, 52], "ros2": [3, 4, 5, 7, 9, 14, 15, 16, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 35], "launch": [3, 4, 5, 9, 13, 16, 18, 19, 20, 21, 22, 23, 24, 25, 26, 28, 29], "cart_example_posit": [3, 5], "py": [3, 5, 16, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29], "fals": [3, 5, 13, 16, 18, 29, 33, 39, 41, 42, 44, 47], "machin": [3, 4, 5, 6, 16, 29], "client": [3, 5, 29, 44], "gzclient": [3, 29], "rocker": [3, 5], "go": [3, 5, 7, 9, 14, 27, 35], "imag": [3, 5, 9, 29], "inject": [3, 5, 7], "nvidia": [3, 5], "And": 3, "user": [3, 5, 6, 9, 16, 27, 43], "id": [3, 5, 15, 18, 21, 22, 23, 24, 25, 26, 28], "specif": [3, 5, 6, 8, 9, 11, 12, 27, 29, 38, 41, 43, 44], "cleaner": [3, 5], "mount": [3, 5], "permiss": [3, 5, 9], "instal": [3, 5, 9, 14, 17, 18, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 35], "instruct": [3, 5, 22, 27, 29], "x11": [3, 5], "latest": [3, 4, 5], "move": [3, 5, 16, 18, 20, 21, 22, 23, 24, 25, 26, 28, 29, 39], "cart": [3, 5], "rail": [3, 5], "exec": [3, 5, 18], "bash": [3, 4, 5, 14, 16, 18, 27, 35], "home": [3, 5], "ros2_w": [3, 4, 5, 16], "example_posit": [3, 5], "element": [3, 5, 27], "access": [3, 4, 5, 7, 9, 13, 18, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 35, 41], "interfac": [3, 5, 6, 7, 8, 9, 10, 11, 13, 14, 16, 18, 20, 21, 22, 24, 25, 26, 29, 30, 32, 34, 35, 37, 40, 42, 43, 46, 49, 51, 52, 53], "gazebosystem": 3, "hardwar": [3, 5, 7, 8, 10, 13, 15, 16, 18, 19, 20, 21, 22, 23, 24, 25, 26, 28, 29, 33, 34, 35, 42, 48, 53], "slider_to_cart": [3, 5, 36, 45, 50], "command_interfac": [3, 4, 5, 12, 20, 27, 31, 42, 44], "param": [3, 4, 5, 9, 12, 13, 22, 27], "min": [3, 4, 5, 12, 27], "1000": [3, 5, 27], "max": [3, 4, 5, 12, 27, 39], "state_interfac": [3, 4, 5, 12, 27, 31, 42, 44], "initial_valu": [3, 5, 27], "mimick": [3, 5, 13], "manual": [3, 4, 5, 6, 9, 14, 16, 18, 23, 24, 25, 26, 28, 29, 35, 53], "multipli": [3, 5, 13], "definit": [3, 4, 5, 14, 27, 31, 33, 34, 35, 37, 42], "left_finger_joint": [3, 5], "prismat": [3, 5], "right_finger_joint": [3, 5], "axi": [3, 5, 6, 27, 30, 32, 33, 37, 49], "xyz": [3, 5, 27], "rpy": [3, 5, 27], "1415926535": [3, 5], "parent": [3, 5, 14, 27, 35], "base": [3, 4, 5, 7, 11, 14, 15, 16, 21, 22, 26, 27, 33, 35, 38, 47, 48, 51], "child": [3, 5, 12, 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[26, "controllers-from-this-demo"], [28, "controllers-from-this-demo"], [29, "controllers-from-this-demo"]], "Example 10: Industrial robot with GPIO interfaces": [[19, "example-10-industrial-robot-with-gpio-interfaces"]], "Example 12: Controller chaining with RRBot": [[20, "example-12-controller-chaining-with-rrbot"]], "Example 14: Modular robot with actuators not providing states": [[21, "example-14-modular-robot-with-actuators-not-providing-states"]], "DiffBot": [[22, "diffbot"]], "Example 3: Robots with multiple interfaces": [[23, "example-3-robots-with-multiple-interfaces"]], "Example 4: Industrial robot with integrated sensor": [[24, "example-4-industrial-robot-with-integrated-sensor"]], "Files used for this demo": [[24, "files-used-for-this-demo"]], "Example 5: Industrial robot with externally connected sensor": [[25, "example-5-industrial-robot-with-externally-connected-sensor"]], "Example 6: Modular Robots with separate communication to each actuator": [[26, "example-6-modular-robots-with-separate-communication-to-each-actuator"]], "Example 7: Full tutorial with a 6DOF robot": [[27, "example-7-full-tutorial-with-a-6dof-robot"]], "ros2_control overview": [[27, "ros2-control-overview"]], "Writing a URDF": [[27, "writing-a-urdf"]], "Geometry": [[27, "geometry"]], "URDF file": [[27, "urdf-file"]], "Writing a hardware interface": [[27, "writing-a-hardware-interface"]], "Plugin description file (hardware)": [[27, "plugin-description-file-hardware"]], "CMake library (hardware)": [[27, "cmake-library-hardware"]], "Writing a controller": [[27, "writing-a-controller"]], "Plugin description file (controller)": [[27, "plugin-description-file-controller"]], "CMake library (controller)": [[27, "cmake-library-controller"]], "Launching the example": [[27, "launching-the-example"]], "Example 8: Industrial Robots with an exposed transmission interface": [[28, "example-8-industrial-robots-with-an-exposed-transmission-interface"]], "Example 9: Simulation with 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Zsg}l;X(ncAW`_EcPjY!|KEqg?0RTG87U}>1

diff --git a/iron/.doctrees/doc/ros2_control/hardware_interface/doc/mock_components_userdoc.doctree b/iron/.doctrees/doc/ros2_control/hardware_interface/doc/mock_components_userdoc.doctree
index aa43f8634750aed598b87886322f74f7b9990e02..0bf2b2df2d86015e763c82feb4812b2f9fb14182 100644
GIT binary patch
delta 62
zcmexg^1oz*1EXO2k$GZjvSo_7rMabdL#VOpwXYFe_9NotCDs(Es9vXP}>qIt5pv1zKM
Rv1OWxS(=&Q=0Zk3O8~R76UhJo

diff --git a/iron/.doctrees/doc/ros2_control/hardware_interface/doc/writing_new_hardware_component.doctree b/iron/.doctrees/doc/ros2_control/hardware_interface/doc/writing_new_hardware_component.doctree
index cf47b73dd955cfe90ddce11542e82cec3a98fdf6..04bf625caddd57b6aae1ee980bb4d294be81ac53 100644
GIT binary patch
delta 64
zcmaFb!1A<#WrH81VL?hsUVd_Ro_<$Yh#%KQk)_oQe

delta 64
zcmaFb!1A<#WrH81VM%6+fqAiEk-njEl9^#zs%2_gvXMz@ig~Jea&oefrD39ZvbnKo
Ts->}Inu%GOnc?Po#%KQkxXu-B

diff --git a/iron/.doctrees/doc/ros2_control/ros2controlcli/doc/userdoc.doctree b/iron/.doctrees/doc/ros2_control/ros2controlcli/doc/userdoc.doctree
index 17de709310fd64e972be3bba1588911c153f6b19..6d602f01c885bc72778d9419b78904e4148895a0 100644
GIT binary patch
delta 64
zcmex!hw;xH#tn9ih6O1ldHKoNdHQLoX-VcuhNed5iK)q!Ddv{umS%<)=BBB}$!3Yh
TCaEbFCI(3$;rt^mWGMu$>zqU
Tsg}l;X(ncAW`>*d8F_O7=)V-i

diff --git a/iron/.doctrees/doc/ros2_control_demos/doc/index.doctree b/iron/.doctrees/doc/ros2_control_demos/doc/index.doctree
index 1aa353531d446a3a79514e4216392ae748bdbb92..2ab557c09146354aa3295631d468d1c9bb8b23bb 100644
GIT binary patch
delta 68
zcmez0!u-F5d4n0FQ9(*cUVd_Ro_<}Inu%GOnW6sVi<`t3*E1dj02tyHx&QzG

diff --git a/iron/.doctrees/doc/ros2_control_demos/doc/run_from_docker.doctree b/iron/.doctrees/doc/ros2_control_demos/doc/run_from_docker.doctree
index 58c1277a8181183dde761c708b74437c4ee02112..52a11d5706abb850c90dd418b79c0398f86112ea 100644
GIT binary patch
delta 62
zcmeB_>Xh2h&th1RQj(XSoSmnimYSAio@8ihWS*FsY?)$iX>Ms|Xkl)eYMgAAXl#<2
RVqs#Cl#*()`2dS22LOV;6MO&w

delta 62
zcmeB_>Xh2h&th1TnPOmGY*?gkXq;qbn3igpnwD&2lA2$;rt^mWGMu$>zqU
gsg}l;X(ncAW`_Ec_{As73WzrEVBEfgk$;rt^mWGMu$>zqU
Tsg}l;X(ncAW`>)48N*@$)lC%1

diff --git a/iron/.doctrees/doc/ros2_control_demos/example_12/doc/userdoc.doctree b/iron/.doctrees/doc/ros2_control_demos/example_12/doc/userdoc.doctree
index 5d82154ce4ebc9d42e6de8f5b708651ec40d8aac..913898b5dbcb70fb3f37aa25260d107e126f8cf5 100644
GIT binary patch
delta 73
zcmX^7m+A0drVTNSMg=J)dHKoNdHQLoX-VcuhNed5iK)q!Ddv{umS%<)=BBB}$!3Yh
dCaEbFCI(3$;rt^mWGMu$>zqU
dsg}l;X(ncAW`_EcCvb^R?%XH6`2ZvHUI4Q07_$;rt^mWGMu$>zqU
dsg}l;X(ncAW`_Ec1^LA%*G-n*e1P%CL;!c^7z+RZ

diff --git a/iron/.doctrees/doc/ros2_control_demos/example_2/doc/userdoc.doctree b/iron/.doctrees/doc/ros2_control_demos/example_2/doc/userdoc.doctree
index 01487b9f75d4602651eed4739a6533834d64dd8a..b91e197debf64722ae8762ba834efb0d50758c11 100644
GIT binary patch
delta 829
zcmcJN%TE(g7{&9=%Q%TKjSKM+b0N`%Chhb=haqhUZru2QR2rLzWZIdwgY9&n(*g?V
zbU_zdjp5=>5;v$3Y^fI)EC|LuiivT_Kj2FL0h|^)wCvs7oSg5R@BVUgSJtWhb&9dr
zmyre&1)rgqdM@!$_axP1T#S4BeWI);Bt?`&Dd-&#`&EA;DEkAdG7u2riW>0X;q#YC
z1BQZN;@{#nc7=ON5mU|@s)G7>WX@=LbC5>}Wi(xtr&|)C*+C?@#iotWTvH2&`jMk$
zJypnb=l^An<-Km9kLP2#0?Mazg^Yr9;+FnUu!Va=(lH!|rW2-vrDL^2(go7W9&&VN
zn-t6G6XVNip}IAl%lnX-GqeOU3UTZSU2Aeo96if_;UHRggkqCvG_G(JHTf`6r{OIbPmEHqhU@Ab`#ey6U=UxD1E>)x^_=21
z?3%!0`CKpF6Ir}Ff03M?T%)*#?ceM4FA&H+X5b@Pn7Tr9oA&sPGbZ0mhT%Th-dD%N
z2eSff5@BwNUa}a<#kKDsyYqh9{taLyVFRbF0@U!n^$xbNl)6M#%c~5xV{ckKDikYq
dhWl)Ldya>T6&DU$S78S~dpZN#gst}Qe*xk?{zd=*

delta 699
zcmbu4J!lhg7{+<;OT4L8rNKdufE7jCyQJp45Haacr`r0_YKN-va+fsZg84!ds7*nO
zXsD%cT`YF8V#85QU!+4xsctSs7X`t(xvHx;co)(V#LeZ;^StlxeIEW>HuKbGxHA8^
zy~YiLFFzKO)tr*;R{S>tifL$usr!12m};oHuKP44s_Lr$q@npWvnOB%lx~b1I7~G-
z6M#|tsn*47g>)_-wQd?Q%!E9Bk~cM$Hlo>}C`r=opd@#xt}41pc2%jVqUm@c)yg%t
zO^!}zA`8#(S4jJ-;6iJ`PX11OGrc9e!MNG2jM620=MuX{=Mr+|UoGMPZK3MvK?Y(d
zg*vD`JOM&HAtleU_#x#*ImzKxr-)zGHu@Cl07%jI-jE1sJl;PJS*rFsf6wE_$Ub^E
zXtDf+bNUe>u$RtV+6{0QuMAoI{p}%s8LGhpd^CIyrfL7>Dg!gLG4ht<=eG%Za`hs>
zLL-p5KF`7;E$HVNSi&F1fb)h;AEYT~3IH~h;?oSj?3~K8Rxb@CZ3bS_@6;O(UeS7{
zljT>O-Sb)N2(=YBjwi=$Iu64{8CED$%&@|1XSPQ`up)GH+`|g1jt{zC#XIF=u#8LP
t0@!$H@&&A6DSnW?O)hd!r^?i4j$e1+_c$|ks=?NA^WiO6qrQqq`~w#7;rajo

diff --git a/iron/.doctrees/doc/ros2_control_demos/example_3/doc/userdoc.doctree b/iron/.doctrees/doc/ros2_control_demos/example_3/doc/userdoc.doctree
index a2bf9326d5ded12136b2a54b2b933dc0f249b400..1a20456857742b2227657a9b3017771384ddd6bb 100644
GIT binary patch
delta 73
zcmaFxhUvi@rVUYyMg=J)dHKoNdHQLoX-VcuhNed5iK)q!Ddv{umS%<)=BBB}$!3Yh
dCaEbFCI(3$;rt^mWGMu$>zqU
dsg}l;X(ncAW`_Ec1^L7$t8bIqyq9tD767qT7$;rt^mWGMu$>zqU
dsg}l;X(ncAW`_Ec75K#`_wtEu-oe;45de7A7dQX_

diff --git a/iron/.doctrees/doc/ros2_control_demos/example_5/doc/userdoc.doctree b/iron/.doctrees/doc/ros2_control_demos/example_5/doc/userdoc.doctree
index 1af290c04658ad624193ca2aea7870fb7de05d06..8a4d892c4c87aef010e662e6303361d9ce80615a 100644
GIT binary patch
delta 69
zcmX@NpXuCwrVUYyMg=J)dHKoNdHQLoX-VcuhNed5iK)q!Ddv{umS%<)=BBB}$!3Yh
ZCaEbFCI(3$;rt^mWGMu$>zqU
Zsg}l;X(ncAW`_EcC&s95-pD9B4*)p{7Nh_G

diff --git a/iron/.doctrees/doc/ros2_control_demos/example_6/doc/userdoc.doctree b/iron/.doctrees/doc/ros2_control_demos/example_6/doc/userdoc.doctree
index 010e65b43d7119b19203978a11c7337812e42ee3..0c5d4fa21471a5d7524b673c515eff160967d99d 100644
GIT binary patch
delta 73
zcmccF#B{TXX+spFQ9(*cUVd_Ro_<}Inu%GOnW6sVKpyeQ3XM{m_cG3@2LN;i7hC`U

diff --git a/iron/.doctrees/doc/ros2_control_demos/example_7/doc/userdoc.doctree b/iron/.doctrees/doc/ros2_control_demos/example_7/doc/userdoc.doctree
index 5343f22a55b1f77f33929752b354a77c313282ac..bb56728e3d796c70a8371c41bdf36a09a91b0347 100644
GIT binary patch
delta 73
zcmX?bknO-hwhd8?Mg=J)dHKoNdHQLoX-VcuhNed5iK)q!Ddv{umS%<)=BBB}$!3Yh
dCaEbFCI(3VV9Z)DuQk&%&qJ^;8D7?}V7

delta 73
zcmX?bknO-hwhd8?MkSdk2Ij?vMf!%uNoIy=sg|i}$wnrrDdwr>$;rt^mWGMu$>zqU
dsg}l;X(ncAW`_Ec?>VV9Z)DuQk&%&qJ^+-O7xVxC

diff --git a/iron/.doctrees/doc/ros2_control_demos/example_8/doc/userdoc.doctree b/iron/.doctrees/doc/ros2_control_demos/example_8/doc/userdoc.doctree
index 40039c4cb6fef5fa4068e5c4f3be4c74ea740729..94e55de56d1204aca64d02456dd798fd1746d842 100644
GIT binary patch
delta 73
zcmZqp%GmIgaYGcNQ9(*cUVd_Ro_<}Inu%GOnW6sVgFNDs-K(TF?`1q(0RV@o7(M_1

diff --git a/iron/.doctrees/doc/ros2_control_demos/example_9/doc/userdoc.doctree b/iron/.doctrees/doc/ros2_control_demos/example_9/doc/userdoc.doctree
index 8b7234cfec0dd188fbb1177c8eaed61c3b7c27f9..813b9fee7131b8974673708a44a6a8d141772757 100644
GIT binary patch
delta 76
zcmbO^k7?#SrVUYyrUfY_dHKoNdHQLoX-VcuhNed5iK)q!Ddv{umS%<)=BBB}$!3Yh
gCaEbFCI(3$;rt^mWGMu$>zqU
gsg}l;X(ncAW`_DH`N@+R!$l^aMs|Xkl)eYMgAAXl#<2
aVqs#Cl#*(qKlviR=;UZ&xy=U|-LwHzfEKp^

delta 71
zcmZpVYLD6w!)R2JnPOmGY*?gkXq;qbn3igpnwD&2lA2$;rt^mWGMu$>zqU
Usg}l;X(ncAW`>(<85ei~0G2k$GZjvSo_7rMabdL#VOpwXYFe_9NotCDs(Es9vXP}>qIt5pv1zKM
bv1OWxS(=%l{$xQx(a94;WH#?+WL5$YB##}c5+>{jn

delta 64
zcmaFW&-kjJaf1(|VM%6+fqAiEk-njEl9^#zs%2_gvXMz@ig~Jea&oefrD39ZvbnKo
Ts->}Inu%GOnc?PI##}c5zU35K

diff --git a/iron/.doctrees/doc/ros2_controllers/doc/controllers_index.doctree b/iron/.doctrees/doc/ros2_controllers/doc/controllers_index.doctree
index d5a2ea60dace12c09494df029a987d4e508ea5d9..0a5e93689e7ed8941032e6cda5e1dc456339c521 100644
GIT binary patch
delta 67
zcmexZ^RZ@w2BT3yN=aURa(146T54L7d6J>2k$GZjvSo_7rMabdL#VOpwXYFe_9NotCDs(Es9vXP}>qIt5pv1zKM
Wv1OWxS(=%l{^UX)(argcOtt_L6%_CQ

diff --git a/iron/.doctrees/doc/ros2_controllers/doc/writing_new_controller.doctree b/iron/.doctrees/doc/ros2_controllers/doc/writing_new_controller.doctree
index 3f83ce8fc6e02f017da5f9a6eb7b13ec7bef29e7..df9e958bfe5e996ad8b99ca1527973748c46d1e9 100644
GIT binary patch
delta 64
zcmZ2$;rt^mWGMu$>zqU
Usg}l;X(ncAW`>&!88^NJ0KFR(EC2ui

diff --git a/iron/.doctrees/doc/ros2_controllers/effort_controllers/doc/userdoc.doctree b/iron/.doctrees/doc/ros2_controllers/effort_controllers/doc/userdoc.doctree
index 14c6052f21e02f699bf79ab7ee7eb3e3b098bffb..f655eff2090ec8f62d1af7c2af227f03f55ce88d 100644
GIT binary patch
delta 62
zcmbQ|FwbFw8>3-CN=aURa(146T54L7d6J>2k$GZjvSo_7rMab3-KW{QD%v0;(Ep>dL#VOpwXYFe_9NotCDs(Es9vXP}>qIt5pv1zKM
Rv1OWxS(=&Q=5og6asY3g6Da@y

diff --git a/iron/.doctrees/doc/ros2_controllers/force_torque_sensor_broadcaster/doc/userdoc.doctree b/iron/.doctrees/doc/ros2_controllers/force_torque_sensor_broadcaster/doc/userdoc.doctree
index 664c4978c6961cb05a0fbb34b8155b51951bb466..2076534c0213689c4a588d32c3ea204e72229986 100644
GIT binary patch
delta 62
zcmccUe9?JB0;6F;N=aURa(146T54L7d6J>2k$GZjvSo_7rMabdL#VOpwXYFe_9NotCDs(Es9vXP}>qIt5pv1zKM
Rv1OWxS(=&Q=823B3IL9|6J!7Y

diff --git a/iron/.doctrees/doc/ros2_controllers/forward_command_controller/doc/userdoc.doctree b/iron/.doctrees/doc/ros2_controllers/forward_command_controller/doc/userdoc.doctree
index fbf2219360c00476b82ef6bce440ac200097a7b5..daa5af915a90b28bb9cdb7df01582e9d3e5887ab 100644
GIT binary patch
delta 67
zcmX?^ax!H@7^6`^N=aURa(146T54L7d6J>2k$GZjvSo_7rMabdL#VOpwXYFe_9NotCDs(Es9vXP}>qIt5pv1zKM
Xv1OWxS(=%l{$xf)gUve_CmH|%{6rNg

diff --git a/iron/.doctrees/doc/ros2_controllers/gripper_controllers/doc/userdoc.doctree b/iron/.doctrees/doc/ros2_controllers/gripper_controllers/doc/userdoc.doctree
index c8daefb63acb19e8bb2016e29b094e5539ebb5d4..7042889eacdd3d4d61964b1c736b12356428640d 100644
GIT binary patch
delta 62
zcmZn;Y!2Mu!Dv{JQj(XSoSmnimYSAio@8ihWS*FsY?)$iX>Ms|Xkl)eYMgAAXl#<2
RVqs#Cl#*()xss7f9RP=~6Dj}z

delta 62
zcmZn;Y!2Mu!Dv{LnPOmGY*?gkXq;qbn3igpnwD&2lA2Ms|Xkl)eYMgAAXl#<2
RVqs#Cl#*()xt@{95CD;b6I=iQ

delta 62
zcmZonZA{(Z$7ooRnPOmGY*?gkXq;qbn3igpnwD&2lA2$X?MiW;6!afvW

delta 64
zcmdnm%eb|daYF#3VM%6+fqAiEk-njEl9^#zs%2_gvXMz@ig~Jea&oefrD39ZvbnKo
Ts->}Inu%GOnc?O}MiW;6q>mH3

diff --git a/iron/.doctrees/doc/ros2_controllers/joint_trajectory_controller/doc/parameters.doctree b/iron/.doctrees/doc/ros2_controllers/joint_trajectory_controller/doc/parameters.doctree
index 096bc42a676252fc0eb0e420320378c978cb666c..a2a03bb0103ce07f5306aefeb7dd915716ef7cf7 100644
GIT binary patch
delta 69
zcmX^6lkx0N#tmwWMg=J)dHKoNdHQLoX-VcuhNed5iK)q!Ddv{umS%<)=BBB}$!3Yh
ZCaEbFCI(3T

delta 69
zcmX^6lkx0N#tmwWMkSdk2Ij?vMf!%uNoIy=sg|i}$wnrrDdwr>$;rt^mWGMu$>zqU
Zsg}l;X(ncAW`_EcF9g|dp3Z1i4FF4i7YhIY

diff --git a/iron/.doctrees/doc/ros2_controllers/joint_trajectory_controller/doc/trajectory.doctree b/iron/.doctrees/doc/ros2_controllers/joint_trajectory_controller/doc/trajectory.doctree
index 60919769abc26dc80fd78da873c2a3f68dad58a2..bdf2f03efbf324aeff61d7650bc27fad97422603 100644
GIT binary patch
delta 69
zcmX@Img&e^rVTZWMg=J)dHKoNdHQLoX-VcuhNed5iK)q!Ddv{umS%<)=BBB}$!3Yh
ZCaEbFCI(3$;rt^mWGMu$>zqU
Zsg}l;X(ncAW`_Ec<6G@Fzh%5W1pqZF7mEM@

diff --git a/iron/.doctrees/doc/ros2_controllers/joint_trajectory_controller/doc/userdoc.doctree b/iron/.doctrees/doc/ros2_controllers/joint_trajectory_controller/doc/userdoc.doctree
index fbe5ffd6120ad4949f9a4ccfc24af8070415adbc..240953ee4778161bdb64cc4156af02a4b2fa2a1a 100644
GIT binary patch
delta 69
zcmaELnd#MKrVSB{Mg=J)dHKoNdHQLoX-VcuhNed5iK)q!Ddv{umS%<)=BBB}$!3Yh
ZCaEbFCI(3$;rt^mWGMu$>zqU
Zsg}l;X(ncAW`_Ec9eHdvA7fNm0RT<=7M}nB

diff --git a/iron/.doctrees/doc/ros2_controllers/position_controllers/doc/userdoc.doctree b/iron/.doctrees/doc/ros2_controllers/position_controllers/doc/userdoc.doctree
index 2e1cb5ee756f7a2d88ce997a564c4e98ae937680..ffbc6fb0aab90d335aa7f1ec65e4caf339729769 100644
GIT binary patch
delta 62
zcmaFj@Wf$*7o%Z8N=aURa(146T54L7d6J>2k$GZjvSo_7rMabdL#VOpwXYFe_9NotCDs(Es9vXP}>qIt5pv1zKM
Rv1OWxS(=&Q=4!^5asZNX6aN4J

diff --git a/iron/.doctrees/doc/ros2_controllers/range_sensor_broadcaster/doc/userdoc.doctree b/iron/.doctrees/doc/ros2_controllers/range_sensor_broadcaster/doc/userdoc.doctree
index 47fcc9a2121233378ca5e5bb1b581bf4915a79c7..2b6409ee3060bbae47fa39c1eafff925ff89b274 100644
GIT binary patch
delta 62
zcmaFn{>*(t5Tjv1N=aURa(146T54L7d6J>2k$GZjvSo_7rMab=TN6hr_3

delta 62
zcmaFn{>*(t5Tjv9W{QD%v0;(Ep>dL#VOpwXYFe_9NotCDs(Es9vXP}>qIt5pv1zKM
Rv1OWxS(=&Q=4QrZB>2k$GZjvSo_7rMabdL#VOpwXYFe_9NotCDs(Es9vXP}>qIt5pv1zKM
Rv1OWxS(=&Q=824byZ~kv67c{4

diff --git a/iron/.doctrees/doc/ros2_controllers/steering_controllers_library/doc/userdoc.doctree b/iron/.doctrees/doc/ros2_controllers/steering_controllers_library/doc/userdoc.doctree
index 61dba92762b915866c76e2b1a6b016b035753981..2d3c8718751708155da2890c8e3e9040a459c006 100644
GIT binary patch
delta 69
zcmeygk?GS$rVUYyMg=J)dHKoNdHQLoX-VcuhNed5iK)q!Ddv{umS%<)=BBB}$!3Yh
ZCaEbFCI(3$;rt^mWGMu$>zqU
Zsg}l;X(ncAW`_Ec`-E*bpJddW4gf=`7P$Zb

diff --git a/iron/.doctrees/doc/ros2_controllers/tricycle_controller/doc/userdoc.doctree b/iron/.doctrees/doc/ros2_controllers/tricycle_controller/doc/userdoc.doctree
index d3c24812e49d151fc3be17e46b9a4bff9ed41992..ddee7678cc4fe196e922bdd03626727850981df8 100644
GIT binary patch
delta 62
zcmbQMF;`=Q2cuy@N=aURa(146T54L7d6J>2k$GZjvSo_7rMabdL#VOpwXYFe_9NotCDs(Es9vXP}>qIt5pv1zKM
Rv1OWxS(=&Q=1RsTLI7k-66^o~

diff --git a/iron/.doctrees/doc/ros2_controllers/tricycle_steering_controller/doc/userdoc.doctree b/iron/.doctrees/doc/ros2_controllers/tricycle_steering_controller/doc/userdoc.doctree
index 55f0eaeb54ae6a33be7ad53911bcc8b2542c5056..85308f46ae9b4d67f74dcd55886c37503a911b39 100644
GIT binary patch
delta 71
zcmaDJ_&jh!6r)i=N=aURa(146T54L7d6J>2k$GZjvSo_7rMabdL#VOpwXYFe_9NotCDs(Es9vXP}>qIt5pv1zKM
bv1OWxS(=%l{^Wjs(aAsAH8!7Qlv4))VX_wV

diff --git a/iron/.doctrees/doc/ros2_controllers/velocity_controllers/doc/userdoc.doctree b/iron/.doctrees/doc/ros2_controllers/velocity_controllers/doc/userdoc.doctree
index f44c693611217593977890a86c8eb907e79d834f..f7b141b9027811880a417572f883e1d1942a2fab 100644
GIT binary patch
delta 62
zcmaFj@Wf$*7o%Z8N=aURa(146T54L7d6J>2k$GZjvSo_7rMabdL#VOpwXYFe_9NotCDs(Es9vXP}>qIt5pv1zKM
Rv1OWxS(=&Q=4!^5asZNX6aN4J

diff --git a/iron/.doctrees/doc/simulators/simulators.doctree b/iron/.doctrees/doc/simulators/simulators.doctree
index fad3c23e71a75c14725832669cfb9efa5ae3cafe..9a1b4cd98bb3ffaf4d6197f7a7acebe5ad5c229e 100644
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delta 62
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diff --git a/iron/.doctrees/environment.pickle b/iron/.doctrees/environment.pickle
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diff --git a/iron/.doctrees/index.doctree b/iron/.doctrees/index.doctree
index a6d29e10ec79c9990b26e7329f20e3e6a575f2cc..530b244e1fe79a789739517983cc5f4830d6609a 100644
GIT binary patch
delta 78
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gCaEbFCI(34$n=t~Z{UP_n02A^VZ~y=R

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diff --git a/iron/_sources/doc/ros2_control_demos/example_2/doc/userdoc.rst b/iron/_sources/doc/ros2_control_demos/example_2/doc/userdoc.rst
index 116da462a6d..504172a9b76 100644
--- a/iron/_sources/doc/ros2_control_demos/example_2/doc/userdoc.rst
+++ b/iron/_sources/doc/ros2_control_demos/example_2/doc/userdoc.rst
@@ -88,14 +88,16 @@ Tutorial steps
 
    .. code-block:: shell
 
-    ros2 topic pub --rate 30 /diffbot_base_controller/cmd_vel_unstamped geometry_msgs/msg/Twist "linear:
-      x: 0.7
-      y: 0.0
-      z: 0.0
-    angular:
-      x: 0.0
-      y: 0.0
-      z: 1.0"
+    ros2 topic pub --rate 30 /diffbot_base_controller/cmd_vel geometry_msgs/msg/TwistStamped "
+    twist:
+      linear:
+        x: 0.7
+        y: 0.0
+        z: 0.0
+      angular:
+        x: 0.0
+        y: 0.0
+        z: 1.0"
 
    You should now see an orange box circling in *RViz*.
    Also, you should see changing states in the terminal where launch file is started.
diff --git a/iron/doc/acknowledgements/acknowledgements.html b/iron/doc/acknowledgements/acknowledgements.html
index e19ba24f5d3..eaa0f924ade 100644
--- a/iron/doc/acknowledgements/acknowledgements.html
+++ b/iron/doc/acknowledgements/acknowledgements.html
@@ -145,18 +145,18 @@ 
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ros2 topic pub --rate 30 /diffbot_base_controller/cmd_vel_unstamped geometry_msgs/msg/Twist "linear:
-  x: 0.7
-  y: 0.0
-  z: 0.0
-angular:
-  x: 0.0
-  y: 0.0
-  z: 1.0"
+
ros2 topic pub --rate 30 /diffbot_base_controller/cmd_vel geometry_msgs/msg/TwistStamped "
+twist:
+  linear:
+    x: 0.7
+    y: 0.0
+    z: 0.0
+  angular:
+    x: 0.0
+    y: 0.0
+    z: 1.0"
 

 

 
You should now see an orange box circling in RViz.
diff --git a/iron/index.html b/iron/index.html
index 046e95a0598..5aec17d688a 100644
--- a/iron/index.html
+++ b/iron/index.html
@@ -139,7 +139,7 @@ 
Development Organisation and Communication
-
Built on 2024-01-02 at 05:31 GMT

+
Built on 2024-01-03 at 05:31 GMT

 
 
 
diff --git a/iron/searchindex.js b/iron/searchindex.js
index 272dae09087..6a521e1fec7 100644
--- a/iron/searchindex.js
+++ b/iron/searchindex.js
@@ -1 +1 @@
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"doc/simulators/simulators.rst", "doc/supported_robots/supported_robots.rst", "index.rst"], "titles": ["Acknowledgements", "Contributing", "Differences to ros_control (ROS1)", "gazebo_ros2_control", "Getting Started", "gz_ros2_control", "Project Ideas for GSoC 2024", "Resources", "Controller Chaining / Cascade Control", "Controller Manager", "ros2_control", "Hardware Components", "ros2_control hardware interface types", "Mock Components", "Writing a Hardware Component", "Command Line Interface", "Demos", "<no title>", "Example 1: RRBot", "Example 10: Industrial robot with GPIO interfaces", "Example 12: Controller chaining with RRBot", "Example 14: Modular robot with actuators not providing states", "DiffBot", "Example 3: Robots with multiple interfaces", "Example 4: Industrial robot with integrated sensor", "Example 5: Industrial robot with externally connected sensor", "Example 6: Modular Robots with separate communication to each actuator", "Example 7: Full tutorial with a 6DOF 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11, 12, 14, 15, 16, 18, 20, 21, 22, 23, 24, 25, 26, 27, 28, 44, 52, 53, 54], "composit": [2, 7], "basic": [2, 3, 4, 5, 6, 7, 14, 16, 22, 35], "physic": [2, 4, 11, 12, 13], "cell": [2, 37], "surround": 2, "describ": [2, 4, 8, 12, 16, 18, 23, 27, 29, 43], "multi": [2, 4, 6, 7, 16, 23], "gripper": [2, 3, 4, 5, 7, 12, 13, 34], "out": [2, 3, 5, 9, 27, 33], "box": [2, 16, 18, 22, 23, 24, 25, 28, 29], "allow": [2, 3, 4, 5, 16, 27, 39, 42, 43, 44, 47], "joint": [2, 4, 7, 16, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 38, 39, 41, 42, 43, 45, 48, 50, 51, 54], "posit": [2, 3, 4, 5, 7, 9, 12, 15, 16, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 31, 33, 34, 36, 41, 42, 43, 44, 45, 48, 51], "veloc": [2, 3, 4, 5, 7, 8, 16, 21, 22, 23, 27, 31, 32, 33, 34, 39, 40, 41, 42, 43, 44, 45, 48, 51], "effort": [2, 3, 5, 16, 27, 34, 36, 39, 41, 42, 44], "hard": [2, 9], "data": [2, 4, 6, 13, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 34, 41, 43], "approach": [2, 8], "doe": [2, 8, 9, 14, 18, 21, 22, 23, 24, 25, 26, 27, 28, 35, 43, 44], "enforc": [2, 23, 27, 42], "string": [2, 9, 13, 16, 35, 38, 39, 40, 41, 42, 46, 48], "ensur": [2, 7, 9, 27, 43], "constant": [2, 16], "hardware_interfac": [2, 3, 4, 5, 11, 13, 14, 16, 21, 24, 25, 26, 27, 31, 33, 34, 35], "In": [2, 3, 4, 5, 6, 7, 8, 14, 16, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 34, 35, 41, 43, 48], "had": 2, "itself": [2, 8], "took": 2, "care": [2, 6, 9, 14, 23, 35, 44], "regist": [2, 3, 5], "resourc": [2, 3, 5, 14, 23], "conflict": [2, 4, 6], "resourcemanag": [2, 8], "take": [2, 6, 8, 14, 20, 23, 33, 35, 41, 43], "state": [2, 3, 4, 5, 6, 7, 9, 11, 12, 13, 14, 15, 16, 18, 19, 20, 22, 23, 24, 25, 26, 27, 28, 29, 34, 35, 37, 41, 42], "avail": [2, 4, 7, 15, 16, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 35, 41, 44], "enabl": [2, 4, 6, 7, 11, 14, 15, 16, 22, 31, 37, 48], "anymor": 2, "controllermanag": [2, 9], "implement": [2, 3, 4, 5, 6, 7, 9, 12, 13, 14, 16, 18, 20, 21, 22, 23, 24, 25, 26, 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18, 20, 21, 22, 23, 24, 25, 26, 28, 29, 39], "cart": [3, 5], "rail": [3, 5], "exec": [3, 5, 18], "bash": [3, 4, 5, 14, 16, 18, 27, 35], "home": [3, 5], "ros2_w": [3, 4, 5, 16], "example_posit": [3, 5], "element": [3, 5, 27], "access": [3, 4, 5, 7, 9, 13, 18, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 35, 41], "interfac": [3, 5, 6, 7, 8, 9, 10, 11, 13, 14, 16, 18, 20, 21, 22, 24, 25, 26, 29, 30, 32, 34, 35, 37, 40, 42, 43, 46, 50, 52, 53, 54], "gazebosystem": 3, "hardwar": [3, 5, 7, 8, 10, 13, 15, 16, 18, 19, 20, 21, 22, 23, 24, 25, 26, 28, 29, 33, 34, 35, 42, 49, 54], "slider_to_cart": [3, 5, 36, 45, 51], "command_interfac": [3, 4, 5, 12, 20, 27, 31, 42, 44], "param": [3, 4, 5, 9, 12, 13, 22, 27], "min": [3, 4, 5, 12, 27], "1000": [3, 5, 27], "max": [3, 4, 5, 12, 27, 39], "state_interfac": [3, 4, 5, 12, 27, 31, 42, 44], "initial_valu": [3, 5, 27], "mimick": [3, 5, 13], "manual": [3, 4, 5, 6, 9, 14, 16, 18, 23, 24, 25, 26, 28, 29, 35, 54], "multipli": [3, 5, 13], "definit": [3, 4, 5, 9, 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18, 20, 29, 54], "line": [4, 10, 11, 14, 18, 27, 35, 41, 43], "friendli": 4, "cli": [4, 9, 10, 15, 18, 19, 22, 23, 24, 25, 26, 28, 29], "auto": [4, 9], "complet": [4, 11, 20, 27, 43], "rang": [4, 12, 34], "common": [4, 6, 16, 41, 54], "capabl": [4, 6], "realiz": [4, 7, 43, 44], "repres": [4, 11, 27, 33, 34, 43], "dynam": [4, 14, 27, 35], "dof": [4, 12, 16, 27, 39], "differ": [4, 6, 7, 12, 14, 16, 18, 19, 22, 23, 27, 36, 37, 41, 43, 45, 48, 51], "transmiss": [4, 16], "humanoid": 4, "logic": 4, "channel": [4, 53], "kuka": [4, 18, 23, 24, 25, 53], "rsi": [4, 18, 24, 25, 53], "relat": [4, 6, 7], "forc": [4, 7, 12, 15, 24, 25, 31, 34, 53], "torqu": [4, 12, 24, 25, 31, 34], "simpl": [4, 6, 7, 8, 14, 16, 18, 20, 22, 27, 28, 35, 39], "valv": [4, 12], "mandatori": [4, 9, 37, 42], "dc": 4, "arduino": [4, 21, 26], "board": 4, "modular": [4, 7, 16, 27], "independ": [4, 7, 25], "explan": [4, 9, 14], "given": [4, 9, 17, 18, 20, 21, 22, 23, 24, 25, 26, 28, 36, 42, 43, 44, 45, 51], "through": [4, 6, 7, 8, 9, 14, 15, 16, 20, 27, 35, 44, 54], "tag": [4, 9, 12, 14, 16, 18, 19, 20, 21, 22, 23, 24, 26, 27, 28, 29, 35, 54], "chosen": [4, 12], "structur": [4, 6, 8, 9, 14, 27, 33, 35, 42, 43], "track": [4, 30, 50, 54], "togeth": [4, 8, 12, 22, 24, 48], "xacro": [4, 9, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29], "hereund": 4, "rrbot": [4, 12, 15, 16, 19, 21, 23, 24, 25, 26, 28], "effector": [4, 53], "site": 4, "rrbotsystempositiononli": [4, 25], "ros2_control_demo_hardwar": [4, 12, 15], "example_param_write_for_sec": 4, "example_param_read_for_sec": [4, 12], "joint1": [4, 12, 13, 15, 18, 19, 20, 21, 23, 24, 25, 26, 28, 29, 44], "joint2": [4, 12, 15, 18, 19, 20, 21, 23, 24, 25, 26, 28, 29, 44], "rrbotforcetorquesensor1d": 4, "forcetorquesensor1dhardwar": 4, "tcp_fts_sensor": [4, 12, 24, 25], "frame_id": [4, 12, 24, 25, 37, 40, 46, 48], "rrbot_tcp": 4, "min_forc": 4, "max_forc": 4, "rrbotgripp": 4, "positionactuatorhardwar": 4, "gripper_joint": 4, "instead": [4, 13, 22, 27, 29, 42], 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35, 44], "pars": [2, 3, 5, 9, 10, 12], "urdf": [2, 7, 9, 12, 16, 18, 19, 20, 21, 22, 23, 24, 25, 26, 28, 29], "snippet": 2, "hardwareinfo": [2, 27], "here": [2, 10, 14, 27, 35, 36, 44, 45, 51], "cross": [2, 41], "valu": [2, 4, 6, 12, 13, 14, 16, 18, 19, 20, 22, 24, 25, 27, 29, 35, 40, 41, 42, 44, 46, 48], "export_": 2, "_interfac": [2, 14], "joint_a2": 2, "extract": [2, 33, 49], "sensibl": 2, "stop": [2, 7, 8, 9, 11, 15, 18, 22, 23, 27, 33, 42, 49], "usual": [2, 4, 9, 13, 14, 27, 35], "includ": [2, 3, 5, 6, 11, 14, 15, 27, 35, 44, 53], "command": [2, 3, 4, 5, 6, 7, 9, 10, 12, 13, 14, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 32, 33, 34, 35, 36, 38, 39, 42, 43, 45, 47, 50, 51, 54], "safe": [2, 27, 33, 35, 44, 49], "interrupt": [2, 9], "stream": [2, 7], "write": [2, 4, 7, 8, 9, 10, 20, 21, 22, 26, 34], "exchang": [2, 6, 18, 21, 22, 23, 24, 25, 26, 28, 54], "equival": [2, 27], "forget": [2, 4, 16, 44], "pluginlib_export_class": [2, 14, 16, 27, 35], "macro": [2, 4, 14, 16, 27, 35], "end": [2, 4, 11, 14, 27, 35, 42, 53], "cpp": [2, 14, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 35], "file": [2, 3, 4, 5, 6, 7, 9, 13, 14, 16, 31, 33, 35, 36, 44, 45, 51], "creat": [2, 3, 4, 5, 7, 9, 13, 14, 16, 27, 35], "xml": [2, 3, 5, 11, 14, 27, 35], "librari": [2, 4, 14, 15, 16, 30, 32, 34, 35, 48, 50], "pluginlib": [2, 3, 4, 5, 9, 14, 27, 35], "exampl": [2, 3, 4, 5, 6, 7, 8, 9, 13, 15, 22, 31, 36, 37, 41, 44, 45, 51, 54], "rrbotsystempositiononlyhardwar": [2, 4, 12, 15, 18, 20, 25], "excel": 2, "jointtrajectorycontrol": [2, 3, 5, 15, 18, 31, 44], "real": [2, 6, 7, 9, 13, 22, 35, 41, 42, 54], "critic": [2, 6], "mark": [2, 20], "controllerinterfac": [2, 4, 8, 15, 27, 35], "member": [2, 14, 27, 35, 43], "init": 2, "call": [2, 3, 4, 5, 8, 14, 22, 27, 35], "lifecycl": [2, 4, 7, 9, 11, 14, 27, 34], "declar": [2, 14, 27, 35], "state_interface_configur": [2, 27, 35], "command_interface_configur": [2, 27, 35], "design": [2, 4, 6, 7, 8, 27, 54], "updat": [2, 4, 8, 9, 16, 27, 34, 35, 44, 48], "manag": [2, 3, 5, 6, 7, 10, 11, 14, 15, 16, 27, 35, 44, 54], "option": [2, 3, 5, 9, 11, 13, 14, 15, 18, 23, 34, 35, 37, 41, 44, 48], "on_configur": [2, 14, 27, 35], "on_activ": [2, 11, 14, 27, 35], "on_deactiv": [2, 11, 14, 27, 35], "deactiv": [2, 4, 15, 18, 42], "final": [2, 7, 11, 27], "joint_trajectory_plugin": 2, "integr": [3, 4, 5, 6, 7, 13, 16, 20, 22, 27, 42, 43, 44, 54], "architectur": [3, 5, 6, 7], "gazebo": [3, 5, 6, 16, 18, 29, 52], "classic": [3, 16, 29, 52], "provid": [3, 4, 5, 6, 7, 8, 9, 12, 13, 14, 16, 18, 20, 23, 24, 25, 26, 27, 28, 29, 31, 35, 41, 42, 43, 44, 48, 54], "instanti": [3, 5, 9], "connect": [3, 4, 5, 13, 16, 24, 27], "model": [3, 5, 18, 27], "cd": [3, 4, 5, 16, 27], "docker": [3, 5, 17, 18, 20, 21, 22, 23, 24, 25, 26, 28, 29], "gui": [3, 5, 16, 18, 20, 21, 23, 24, 25, 26, 28, 29, 47], "properli": [3, 5, 8, 16, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29], "rm": [3, 4, 5, 16, 18, 29], "net": [3, 5, 7, 16, 18, 29], "host": [3, 5, 16, 18, 29, 53], "ros2": [3, 4, 5, 7, 9, 14, 15, 16, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 35], "launch": [3, 4, 5, 9, 13, 16, 18, 19, 20, 21, 22, 23, 24, 25, 26, 28, 29], "cart_example_posit": [3, 5], "py": [3, 5, 16, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29], "fals": [3, 5, 13, 16, 18, 29, 33, 39, 41, 42, 44, 48], "machin": [3, 4, 5, 6, 16, 29], "client": [3, 5, 29, 44], "gzclient": [3, 29], "rocker": [3, 5], "go": [3, 5, 7, 9, 14, 27, 35], "imag": [3, 5, 9, 29], "inject": [3, 5, 7], "nvidia": [3, 5], "And": 3, "user": [3, 5, 6, 9, 16, 27, 43], "id": [3, 5, 15, 18, 21, 22, 23, 24, 25, 26, 28], "specif": [3, 5, 6, 8, 9, 11, 12, 27, 29, 38, 41, 43, 44], "cleaner": [3, 5], "mount": [3, 5], "permiss": [3, 5, 9], "instal": [3, 5, 9, 14, 17, 18, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 35], "instruct": [3, 5, 22, 27, 29], "x11": [3, 5], "latest": [3, 4, 5], "move": [3, 5, 16, 18, 20, 21, 22, 23, 24, 25, 26, 28, 29, 39], "cart": [3, 5], "rail": [3, 5], "exec": [3, 5, 18], "bash": [3, 4, 5, 14, 16, 18, 27, 35], "home": [3, 5], "ros2_w": [3, 4, 5, 16], "example_posit": [3, 5], "element": [3, 5, 27], "access": [3, 4, 5, 7, 9, 13, 18, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 35, 41], "interfac": [3, 5, 6, 7, 8, 9, 10, 11, 13, 14, 16, 18, 20, 21, 22, 24, 25, 26, 29, 30, 32, 34, 35, 37, 40, 42, 43, 46, 50, 52, 53, 54], "gazebosystem": 3, "hardwar": [3, 5, 7, 8, 10, 13, 15, 16, 18, 19, 20, 21, 22, 23, 24, 25, 26, 28, 29, 33, 34, 35, 42, 49, 54], "slider_to_cart": [3, 5, 36, 45, 51], "command_interfac": [3, 4, 5, 12, 20, 27, 31, 42, 44], "param": [3, 4, 5, 9, 12, 13, 22, 27], "min": [3, 4, 5, 12, 27], "1000": [3, 5, 27], "max": [3, 4, 5, 12, 27, 39], "state_interfac": [3, 4, 5, 12, 27, 31, 42, 44], "initial_valu": [3, 5, 27], "mimick": [3, 5, 13], "manual": [3, 4, 5, 6, 9, 14, 16, 18, 23, 24, 25, 26, 28, 29, 35, 54], "multipli": [3, 5, 13], "definit": [3, 4, 5, 9, 14, 27, 31, 33, 34, 35, 37, 42], "left_finger_joint": [3, 5], "prismat": [3, 5], "right_finger_joint": [3, 5], "axi": [3, 5, 6, 27, 30, 32, 33, 37, 50], "xyz": [3, 5, 27], "rpy": [3, 5, 27], "1415926535": [3, 5], "parent": [3, 5, 14, 27, 35], "base": [3, 4, 5, 7, 11, 14, 15, 16, 21, 22, 26, 27, 33, 35, 38, 48, 49, 52], "child": [3, 5, 12, 27], "finger_left": [3, 5], "lower": [3, 5, 27], "upper": [3, 5, 27], "actual": [3, 5, 8], "load": [3, 4, 5, 9, 14, 15, 16, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 34, 35], "appropri": [3, 5, 6, 43], "By": [3, 5, 9, 27, 41, 43], "though": [3, 5, 20], "extens": [3, 5], "via": [3, 4, 5, 16, 18, 24, 25, 27, 29, 44], "between": [3, 4, 5, 6, 11, 12, 16, 27, 30, 32, 41, 42, 43, 44, 50], "filenam": [3, 5, 27], "libgazebo_ros2_control": 3, "so": [3, 4, 5, 8, 9, 14, 27, 31, 35, 44], "robot_param": [3, 5], "robot_descript": [3, 5, 9, 18, 27], "robot_param_nod": [3, 5], "robot_state_publish": [3, 5, 41], "config": [3, 5, 16], "cart_control": 3, "yaml": [3, 4, 5, 6, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 44], "locat": [3, 27, 31], "server": [3, 39, 44], "node": [3, 4, 5, 9, 11, 13, 15, 18, 21, 22, 23, 24, 25, 26, 27, 28, 29, 35], "attempt": [3, 5, 9, 44], "get": [3, 5, 7, 8, 9, 11, 14, 16, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 43, 54], "most": [3, 5, 6, 14, 16, 27, 35], "least": [3, 5, 12, 14, 35, 44], "jointstateinterfac": [3, 5], "effortjointinterfac": [3, 5], "velocityjointinterfac": [3, 5], "complex": [3, 4, 5, 6, 7, 8], "mechan": [3, 5, 8, 44], "nonlinear": [3, 5], "spring": [3, 5], "linkag": [3, 5, 18, 20, 28], "etc": [3, 5, 9, 23, 27, 54], "These": [3, 5, 16, 27], "inherit": [3, 5, 9, 27], "gazebosysteminterfac": 3, "level": [3, 5, 6, 7, 9, 20, 21, 26, 36, 43, 45, 51], "properti": [3, 5, 27], "sub": [3, 5], "class": [3, 4, 5, 7, 9, 11, 14, 15, 27, 35, 38, 43], "specifi": [3, 5, 9, 14, 16, 27, 34, 35, 42, 43, 44], "insid": [3, 5, 13, 16, 18], "joint_state_broadcast": [3, 12, 18, 19, 20, 21, 22, 23, 24, 25, 26, 28, 29], "publish": [3, 5, 6, 8, 12, 16, 19, 27, 31, 34, 37, 40, 41, 43, 46, 49, 54], "stateinterfac": [3, 5, 27], "topic": [3, 5, 6, 7, 8, 12, 18, 19, 20, 21, 22, 23, 24, 25, 26, 28, 29, 34, 44, 52], "sensor_msg": [3, 5, 40, 46], "msg": [3, 5, 18, 19, 20, 21, 22, 23, 24, 25, 26, 28, 29, 31, 33, 36, 37, 38, 40, 43, 44, 45, 46, 48, 51], "jointstat": [3, 5], "joint_trajectory_control": [3, 5, 6, 15, 18, 34, 47], "action": [3, 5, 8, 42], "follow_joint_trajectori": [3, 5, 44], "followjointtrajectori": [3, 5, 42, 44], "controller_manag": [3, 4, 5, 6, 9, 15, 23, 34, 35, 36, 44, 45, 51], "ros__paramet": [3, 5, 36, 44, 45, 51], "update_r": [3, 9, 34, 36, 45, 51], "100": [3, 4, 12, 36, 45, 51], "hz": [3, 36, 39, 45, 51], "jointstatebroadcast": [3, 18, 19, 20, 21, 22, 23, 24, 25, 26, 28, 29], "interface_nam": [3, 19, 37, 38], "contain": [3, 16, 17, 18, 20, 21, 22, 23, 24, 25, 26, 27, 28, 31, 36, 42, 43, 45, 48, 51], "content": [3, 14, 27, 35], "There": [3, 4, 5, 9, 11, 14, 16, 21, 24, 25, 26, 35, 43, 44], "meter": [3, 5, 27], "cart_example_veloc": [3, 5], "cart_example_effort": [3, 5], "diff_driv": 3, "tricycle_dr": 3, "world": [3, 5, 9, 13, 27], "example_veloc": [3, 5], "example_effort": [3, 5], "example_diff_dr": [3, 5], "example_tricycle_dr": [3, 5], "parallel": [3, 4, 5, 12, 13], "gripper_mimic_joint_exampl": [3, 5], "send": [3, 5, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 43, 44], "example_gripp": [3, 5], "iron": [4, 16, 27], "want": [4, 8, 9, 16], "download": [4, 16], "mkdir": [4, 16], "p": [4, 9, 16, 42], "src": [4, 14, 16, 18, 27, 29, 31, 35], "wget": 4, "raw": 4, "githubusercont": 4, "com": [4, 6, 16, 27], "org": [4, 6, 30, 32, 50], "ros_control": [4, 6, 7, 54], "vc": [4, 16], "import": [4, 14, 16, 27, 35, 42], "rosdep": [4, 16], "rosdistro": [4, 16], "sudo": [4, 9, 16], "apt": [4, 16], "path": [4, 7, 16, 27, 44], "ignor": [4, 9, 16, 33, 42, 48, 49], "r": [4, 16, 28], "y": [4, 16, 22, 24, 25, 31, 37, 40], "everyth": [4, 14, 16, 18, 20, 21, 22, 23, 24, 25, 26, 28, 29, 35], "opt": [4, 16, 18], "setup": [4, 13, 14, 16, 18, 22, 27, 29, 35, 43], "sh": [4, 16, 18, 29], "colcon": [4, 14, 16, 27, 35], "symlink": [4, 16, 27], "folder": [4, 7, 14, 16, 18, 19, 22, 30, 31, 32, 35, 48, 50], "found": [4, 9, 10, 14, 18, 19, 22, 31, 33, 35, 38, 44, 54], "github": [4, 6, 10, 16, 27, 34, 52, 53, 54], "figur": [4, 43], "uml": 4, "diagram": [4, 15], "intern": [4, 6, 8, 12, 14, 18, 20, 21, 22, 23, 24, 25, 26, 28, 31, 43, 44], "cm": [4, 9], "abstract": [4, 7, 11, 27], "side": [4, 6, 7], "entri": [4, 35], "point": [4, 27, 35, 42, 43, 44, 54], "servic": [4, 6, 9, 11, 27, 34], "executor": [4, 9], "custom": [4, 12, 13, 16, 21, 22, 37, 41, 52], "howev": [4, 6, 8, 9, 16, 20, 27], "recommend": [4, 7, 14], "ros2_control_nod": [4, 23, 27], "assum": [4, 8], "On": [4, 27], "hand": [4, 27, 53], "unload": [4, 9, 15], "match": [4, 16, 43], "report": [4, 6, 41, 54], "error": [4, 6, 9, 14, 20, 23, 27, 35, 41, 42, 44], "execut": [4, 14, 16, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 32, 35, 39, 42, 43, 44, 50], "loop": [4, 7, 9, 13, 18, 23, 24, 25, 26, 27, 28, 29, 35, 41, 42, 44, 48], "output": [4, 6, 7, 12, 15, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 31, 37], "driver": [4, 7, 16, 27, 53], "reus": [4, 7, 8], "flexibl": 4, "motor": [4, 8, 53], "encod": [4, 27], "theori": [4, 54], "compar": [4, 6, 7], "refer": [4, 8, 20, 27, 53], "measur": [4, 13, 21, 31, 37, 41, 42, 53], "calcul": [4, 27, 31, 43, 48], "input": [4, 6, 7, 8, 12, 19, 20, 27, 31, 33, 36, 38, 42, 43, 45, 48, 49, 51], "object": [4, 27], "deriv": [4, 42, 43], "controller_interfac": [4, 15, 27, 31, 35, 37, 40, 46], "export": [4, 8, 9, 14, 16, 27, 31, 35], "plugin": [4, 9, 11, 12, 14, 15, 16, 18, 19, 20, 21, 22, 23, 24, 25, 26, 28, 29, 31, 35, 47], "forwardcommandcontrol": [4, 18, 19, 20, 21, 23, 24, 25, 26, 28, 29], "lifecyclenod": 4, "document": [4, 6, 7, 12, 13, 14, 16, 22, 33, 34, 43, 44], "interact": [4, 7, 9, 15, 19, 27, 29], "srv": [4, 44], "controller_manager_msg": 4, "while": [4, 6, 7, 27, 43], "directli": [4, 18, 20, 29, 54], "line": [4, 10, 11, 14, 18, 27, 35, 41, 43], "friendli": 4, "cli": [4, 9, 10, 15, 18, 19, 22, 23, 24, 25, 26, 28, 29], "auto": [4, 9], "complet": [4, 11, 20, 27, 43], "rang": [4, 12, 34], "common": [4, 6, 16, 41, 54], "capabl": [4, 6], "realiz": [4, 7, 43, 44], "repres": [4, 11, 27, 33, 34, 43], "dynam": [4, 14, 27, 35], "dof": [4, 12, 16, 27, 39], "differ": [4, 6, 7, 12, 14, 16, 18, 19, 22, 23, 27, 36, 37, 41, 43, 45, 48, 51], "transmiss": [4, 16], "humanoid": 4, "logic": 4, "channel": [4, 53], "kuka": [4, 18, 23, 24, 25, 53], "rsi": [4, 18, 24, 25, 53], "relat": [4, 6, 7], "forc": [4, 7, 12, 15, 24, 25, 31, 34, 53], "torqu": [4, 12, 24, 25, 31, 34], "simpl": [4, 6, 7, 8, 14, 16, 18, 20, 22, 27, 28, 35, 39], "valv": [4, 12], "mandatori": [4, 9, 37, 42], "dc": 4, "arduino": [4, 21, 26], "board": 4, "modular": [4, 7, 16, 27], "independ": [4, 7, 25], "explan": [4, 9, 14], "given": [4, 9, 17, 18, 20, 21, 22, 23, 24, 25, 26, 28, 36, 42, 43, 44, 45, 51], "through": [4, 6, 7, 8, 9, 14, 15, 16, 20, 27, 35, 44, 54], "tag": [4, 9, 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"modifying-or-building-your-own"]], "To run the demo": [[3, "to-run-the-demo"], [5, "to-run-the-demo"]], "Add ros2_control tag to a URDF": [[3, "add-ros2-control-tag-to-a-urdf"], [5, "add-ros2-control-tag-to-a-urdf"]], "Simple setup": [[3, "simple-setup"], [5, "simple-setup"]], "Using mimic joints in simulation": [[3, "using-mimic-joints-in-simulation"], [5, "using-mimic-joints-in-simulation"]], "Add the gazebo_ros2_control plugin": [[3, "add-the-gazebo-ros2-control-plugin"]], "Default gazebo_ros2_control Behavior": [[3, "default-gazebo-ros2-control-behavior"]], "Advanced: custom gazebo_ros2_control Simulation Plugins": [[3, "advanced-custom-gazebo-ros2-control-simulation-plugins"]], "Set up controllers": [[3, "set-up-controllers"], [5, "set-up-controllers"]], "gazebo_ros2_control_demos": [[3, "gazebo-ros2-control-demos"]], "Getting Started": [[4, "getting-started"]], "Installation": [[4, "installation"], [16, "installation"]], "Binary packages": [[4, "binary-packages"]], "Building from Source": [[4, "building-from-source"]], "Architecture": [[4, "architecture"]], "Controller Manager": [[4, "controller-manager"], [9, "controller-manager"]], "Resource Manager": [[4, "resource-manager"]], "Controllers": [[4, "controllers"]], "User Interfaces": [[4, "user-interfaces"]], "Hardware Components": [[4, "hardware-components"], [11, "hardware-components"]], "Hardware Description in URDF": [[4, "hardware-description-in-urdf"]], "Running the Framework for Your Robot": [[4, "running-the-framework-for-your-robot"]], "gz_ros2_control": [[5, "gz-ros2-control"]], "Add the gz_ros2_control plugin": [[5, "add-the-gz-ros2-control-plugin"]], "Default gz_ros2_control Behavior": [[5, "default-gz-ros2-control-behavior"]], "Advanced: custom gz_ros2_control Simulation Plugins": [[5, "advanced-custom-gz-ros2-control-simulation-plugins"]], "gz_ros2_control_demos": [[5, "gz-ros2-control-demos"]], "Project Ideas for GSoC 2024": [[6, "project-ideas-for-gsoc-2024"]], "Tutorials and Demos for ros2_control": [[6, "tutorials-and-demos-for-ros2-control"]], "Mission-Control for ros2_control": [[6, "mission-control-for-ros2-control"]], "Add support for hardware semantic components": [[6, "add-support-for-hardware-semantic-components"]], "Feature-parity for controllers from ROS1": [[6, "feature-parity-for-controllers-from-ros1"]], "Resources": [[7, "resources"]], "Presentations": [[7, "presentations"]], "2023-02 ROS Meetup Munich #5": [[7, "ros-meetup-munich-5"]], "2022-12 ROS-Industrial Conference 2022": [[7, "ros-industrial-conference-2022"]], "2022-10 ROSCon 2022": [[7, "roscon-2022"]], "2022-06 ROSCon Fr 2022": [[7, "roscon-fr-2022"]], "2021-10 ROS World 2021": [[7, "ros-world-2021"]], "2021-10-07 Weekly Robotics Meetup #13": [[7, "weekly-robotics-meetup-13"]], "2021-06 ROSDevDay 2021": [[7, "rosdevday-2021"]], "2021-05 ROSCon Fr 2021": [[7, "roscon-fr-2021"]], "Diagrams": [[7, "diagrams"]], "Images": [[7, "images"]], "Controller Chaining / Cascade Control": [[8, "controller-chaining-cascade-control"]], "Scope of the Document and Background Knowledge": [[8, "scope-of-the-document-and-background-knowledge"]], "Motivation, Purpose and Use": [[8, "motivation-purpose-and-use"]], "Implementation": [[8, "implementation"]], "A Controller Base-Class: ChainableController": [[8, "a-controller-base-class-chainablecontroller"]], "Inner Resource Management": [[8, "inner-resource-management"]], "Activation and Deactivation Chained Controllers": [[8, "activation-and-deactivation-chained-controllers"]], "Debugging outputs": [[8, "debugging-outputs"]], "Closing remarks": [[8, "closing-remarks"]], "Determinism": [[9, "determinism"]], "Parameters": [[9, "parameters"], [13, "parameters"], [30, "parameters"], [31, "parameters"], [32, "parameters"], [33, "parameters"], [36, "parameters"], [37, "parameters"], [38, "parameters"], [39, "parameters"], [40, "parameters"], [41, "parameters"], [45, "parameters"], [46, "parameters"], [48, "parameters"], [50, "parameters"], [51, "parameters"]], "Helper scripts": [[9, "helper-scripts"]], "spawner": [[9, "spawner"]], "unspawner": [[9, "unspawner"]], "Using the Controller Manager in a Process": [[9, "using-the-controller-manager-in-a-process"]], "Concepts": [[9, "concepts"], [10, "concepts"]], "Restarting all controllers": [[9, "restarting-all-controllers"]], "Restarting hardware": [[9, "restarting-hardware"]], "ros2_control": [[10, "ros2-control"]], "API Documentation": [[10, "api-documentation"]], "Features": [[10, "features"]], "Guidelines and Best Practices": [[11, "guidelines-and-best-practices"], [34, "guidelines-and-best-practices"]], "Handling of errors that happen during read() and write() calls": [[11, "handling-of-errors-that-happen-during-read-and-write-calls"]], "Migration from Foxy to newer versions": [[11, "migration-from-foxy-to-newer-versions"]], "ros2_control hardware interface types": [[12, "ros2-control-hardware-interface-types"]], "Joints": [[12, "joints"]], "Sensors": [[12, "sensors"]], "GPIOs": [[12, "gpios"]], "Examples": [[12, "examples"], [16, "examples"]], "Mock Components": [[13, "mock-components"]], "Generic System": [[13, "generic-system"]], "Per-joint Parameters": [[13, "per-joint-parameters"]], "Writing a Hardware Component": [[14, "writing-a-hardware-component"]], "Useful External References": [[14, "useful-external-references"], [35, "useful-external-references"]], "Command Line Interface": [[15, "command-line-interface"]], "list_controllers": [[15, "list-controllers"]], "list_controller_types": [[15, "list-controller-types"]], "list_hardware_components": [[15, "list-hardware-components"]], "list_hardware_interfaces": [[15, "list-hardware-interfaces"]], "load_controller": [[15, "load-controller"]], "reload_controller_libraries": [[15, "reload-controller-libraries"]], "set_controller_state": [[15, "set-controller-state"]], "switch_controllers": [[15, "switch-controllers"]], "unload_controller": [[15, "unload-controller"]], "view_controller_chains": [[15, "view-controller-chains"]], "Demos": [[16, "demos"]], "What you can find in this repository": [[16, "what-you-can-find-in-this-repository"]], "Goals": [[16, "goals"]], "Examples Overview": [[16, "examples-overview"]], "Local installation": [[16, "local-installation"]], "Build from debian packages": [[16, "build-from-debian-packages"]], "Build from source": [[16, "build-from-source"]], "Using Docker": [[16, "using-docker"]], "To view the robot": [[16, "to-view-the-robot"]], "To run the ros2_control demos": [[16, "to-run-the-ros2-control-demos"]], "Quick Hints": [[16, "quick-hints"]], "Example 1: RRBot": [[18, "example-1-rrbot"]], "Tutorial steps": [[18, "tutorial-steps"], [20, "tutorial-steps"], [21, "tutorial-steps"], [22, "tutorial-steps"], [23, "tutorial-steps"], [24, "tutorial-steps"], [25, "tutorial-steps"], [26, "tutorial-steps"], [28, "tutorial-steps"], [29, "tutorial-steps"]], "Files used for this demos": [[18, "files-used-for-this-demos"], [19, "files-used-for-this-demos"], [20, "files-used-for-this-demos"], [21, "files-used-for-this-demos"], [22, "files-used-for-this-demos"], [23, "files-used-for-this-demos"], [25, "files-used-for-this-demos"], [26, "files-used-for-this-demos"], [28, "files-used-for-this-demos"], [29, "files-used-for-this-demos"]], "Controllers from this demo": [[18, "controllers-from-this-demo"], [19, "controllers-from-this-demo"], [20, "controllers-from-this-demo"], [21, "controllers-from-this-demo"], [22, "controllers-from-this-demo"], [23, "controllers-from-this-demo"], [24, "controllers-from-this-demo"], [25, "controllers-from-this-demo"], [26, "controllers-from-this-demo"], [28, "controllers-from-this-demo"], [29, "controllers-from-this-demo"]], "Example 10: Industrial robot with GPIO interfaces": [[19, "example-10-industrial-robot-with-gpio-interfaces"]], "Example 12: Controller chaining with RRBot": [[20, "example-12-controller-chaining-with-rrbot"]], "Example 14: Modular robot with actuators not providing states": [[21, 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zJ1?NjnsSgpPkR9iu=h0I2p>lxOtY09JIlYt*cCx7_Dy#_&*kvU^Pbz`8)Z}PNzgx<
zluEVyXh5pJ<1u~x0Z#6X8&aT5L5L-5)i@T|^Z~-rUJi%hPjvA97{(`3p~XeY?kh8M{o>qDVDaHx3^?uCL>EcnsyliD&4`cBk
z&B`lH$mlH#+qEX*QL$uaw?Y=fzxSgIM!>;%Z;YeaWk>XeICz*F3CLYP7(n9*oC4_Z
zf&3j9EvjKBOGn}=L@wXN9=gTPcR~76o=}$<;$rv4jdEdHDs8BTafteN3p2T%WBgcf
tf+zNkhraR9JtX?ZL+~BX-ot(4;nDmF_i)-b9=gZ#|6)8)_7kXN+&|^ivDW|q

delta 4504
zcmeHLYit!o6n18IW-Wc)MhV)hv{eI1p?hccHM^|{ReTf>id1>D0g4oZm2eRxmP>0f
zL=6~%t~gesNZ^lXM0$gxR0aQ-7(n2Uf(WHa6^)4$A5@KkbNBXfkrLxiO?Q*Mna4S2
z=6v&gXL8TKQS{9lMOrJ~vUs;<0CUyS#gwmPkH)xZ^7{Hk+-5FcTu&KuZE7!G)ZqCI
zF5}#7ppo0(-6tubl2>4?Z%+QZ2>?}5fgaPCm<_?|23W2jDNUJbL$SrB`yF_|;=EW)1STU;Ei
z0<)5}<7R;@vzS`trdw`_=i2mGu<7=Kpm+SzApZ{if3THg@AxD@5B5WnTtGk7g58Ir
z(57N$8(15>^YhGf4qxv^&AGN|GRyNUmve>5x&yd&#O09u2muYcMn-`ZfVUG7%TkG_
zo~;tkm~ES);4GRM)K;|SQa|Gjy=9qYm*R0B3iL^@=K7p6+czDHTg(z{tHNga{X=2%
z%>QUF>w<-4S=-mo#%N?5rYQ3R5?4clJ9wenCSo(AMI
z0EwKCRH8f&b%`@sXida49Bz9KHGN-kl7;Zk3yy5i0;6-oG+V~;Hf~mC8$yt=KJ7=WchopCi})TO&&Kszpm_ZwbfZwCo$^!@8h@=AI}1fc=XUg!DEf`8
zjaUX%jAtJAUEeotB^NvK^kDPLx$<-eo&sc~1RR+ST&Xg%8jMiNU{PkdN>(a2pgOs4
z4LEqS0F$*|5#I&Y7BItiDfeu361kEmpN8(9ZjETNHG(&cyHqf46UITl+M5eomi
z2riX-Z^e}WMC2b6@J14HBdA=pHWvauG6zP|m}
z=qF`GJzj)FOEZb4c#w$rMt{h3cu{#hs1ejgYjaJ;EuUG`wruW+72RZ>$nOBUJX?hB
z2FcOSj)lSAOU&Fk9tF#B%RRm)|-n)z3p#5zqjgz`JWaGSnSfQ0XVu0~V
zGxm~7ZRnwm`^e)6I4PmslG2``aV28Lanhs?2&0baS}K#CZ*xm@y+&$fH3mu>m7+$W
zIQ{}|yTaK>`w;iOh#!%EzJg;zo*{KUPRY%OiGJnLiqlBRVDxk1L$R$Jw+$S&FhC-I
zD8W-=rzxk?noKIZwg;4Ih#AgcKslpS8-WM=!jw!rif6`cH$q!+Qi7HR$=2oO)1GMs=?K-JsD)*;1}g%XIx^0V&OF_nb>v
zb&dm5p@{$94{f*$wX`vPQ^Q-b@uqf6sLrcp?oGrTbaGNo8ODp2rLL7vVVI{Q&GZfAT{L!MrV&712~ZfAT{L!MrV&712~*kLm0@rVR#+h6O1ldHKoNdHNP9DQ4zLrsig*=BdfXMrny=#wL~~hKb3EDdtHA
U28Jf4NtPBC=BAqy8Q=5*0KQTbssI20

delta 64
zcmX>*kLm0@rVR#+h9#LP2Ij?vMf&DOM&^l$N#-VoX67l028M=aCI%)cNvRf=sb+@e
U=4Pn|28I@9spgv#8Q=5*0FIjzm;e9(

diff --git a/master/.doctrees/doc/project_ideas.doctree b/master/.doctrees/doc/project_ideas.doctree
index 78af64b6215af85c7a35baf16a0d93d64e97163c..df806272b29fcd2a5aa866d8952296f5aa7a91ba 100644
GIT binary patch
delta 64
zcmZ4digEEP#tk}*h6O1ldHKoNdHNP9DQ4zLrsig*=BdfXMrny=#wL~~hKb3EDdtHA
U28Jf4NtPBC=BArt8IKhM0L+0DqyPW_

delta 64
zcmZ4digEEP#tk}*h9#LP2Ij?vMf&DOM&^l$N#-VoX67l028M=aCI%)cNvRf=sb+@e
U=4Pn|28I@9spgww8IKhM0G!Gbk^lez

diff --git a/master/.doctrees/doc/resources/resources.doctree b/master/.doctrees/doc/resources/resources.doctree
index 80c6b8aa323accf6452ea1f8240c7408bfa74352..eb7e053475c1e90c168ed1aa9260baa91d78e9b6 100644
GIT binary patch
delta 68
zcmaDnoAvQ*)(t9*h6O1ldHKoNdHNP9DQ4zLrsig*=BdfXMrny=#wL~~hKb3EDdtHA
X28Jf4NtPBC=BCY|jN3yQ8T)(y7M>LS

delta 68
zcmaDnoAvQ*)(t9*h9#LP2Ij?vMf&DOM&^l$N#-VoX67l028M=aCI%)cNvRf=sb+@e
X=4Pn|28I@9spie0jN3yQ8T)(y;*b;T

diff --git a/master/.doctrees/doc/resources/roscon2023_workshop.doctree b/master/.doctrees/doc/resources/roscon2023_workshop.doctree
index f233547dfa438466ae338e5613d8f4ab60ea79bd..eff5877af508de3f0ba8ce844bc45a16b8f4a726 100644
GIT binary patch
delta 62
zcmca!cD-za1*2g>N=aURa(14+MM{d9d6KEQnW=edvawNGqM5OYrHNr;a$<^kl7WGt
RiD{Chg@w84=1j(SmH@1|6es`y

delta 62
zcmca!cD-za1*2g}W{QD%v0;(Exsj21Vq%iHiJ_T!N}_?Gp_z$+NlH?xg=MOlp}DzP
Rs)2!_g;}ck=1j(SmH>SM6BYmf

diff --git a/master/.doctrees/doc/ros2_control/controller_manager/doc/controller_chaining.doctree b/master/.doctrees/doc/ros2_control/controller_manager/doc/controller_chaining.doctree
index 666049ac111d986db559ff07e2bb330a7a7d09fe..4ee328a7058bd24c1f18429577360267f9eb7c55 100644
GIT binary patch
delta 64
zcmX?io$=gt#tjyXh6O1ldHKoNdHNP9DQ4zLrsig*=BdfXMrny=#wL~~hKb3EDdtHA
T28Jf4NtPBC=BAr78B?-gTnBC#tlJ?Mg=J)dHKoNdHNP9DQ4zLrsig*=BdfXMrny=#wL~~hKb3EDdtHA
Z28Jf4NtPBC=BE0SPjY!|KEqg?0RTl}7R3Mn

delta 69
zcmdmgg>nBC#tlJ?MkSdk2Ij?vMf&DOM&^l$N#-VoX67l028M=aCI%)cNvRf=sb+@e
Z=4Pn|28I@9spk5VPjY!|KEqg?0RRwD6|(>U

diff --git a/master/.doctrees/doc/ros2_control/hardware_interface/doc/mock_components_userdoc.doctree b/master/.doctrees/doc/ros2_control/hardware_interface/doc/mock_components_userdoc.doctree
index 042f14a6dd0a15f275a0256b2013dd5dda7052a4..5ecf191f3b7fc4662b0bf6a0e20432a1b4b05ebc 100644
GIT binary patch
delta 62
zcmexg^1oz*1EXOJQ3TbX-dQW%2NlNY0+@=<
Q5v_-Tv=BkF;CGd+|Bp%%k^lez

diff --git a/master/.doctrees/doc/ros2_control/hardware_interface/doc/writing_new_hardware_component.doctree b/master/.doctrees/doc/ros2_control/hardware_interface/doc/writing_new_hardware_component.doctree
index 03d7d9a1f25e010259c9bf259079946b9d9c0d93..1fa89f10673ffa00d0a7d959a7b9cc736d332b95 100644
GIT binary patch
delta 64
zcmZo~WNB|?+2F@$SddbZm!F)Sr*DyxVrHIXYHns~o|fuAl=l;|

delta 64
zcmZo~WNB|?+2F@$Sdy7yU|wukq;GCyWS*FqWNu<;W}cF0U}$J&VqlVzlxks_YG!C|
TZkB3bU}#~MYQDLik>fuAWk3?3

diff --git a/master/.doctrees/doc/ros2_control/ros2controlcli/doc/userdoc.doctree b/master/.doctrees/doc/ros2_control/ros2controlcli/doc/userdoc.doctree
index 9a3be9e6b077807f854954a3715842c0c66c433c..427e1fcf8bf74d66fd369fa914990a5bfadd17b3 100644
GIT binary patch
delta 64
zcmex!hw;xH#tn9ih6O1ldHKoNdHNP9DQ4zLrsig*=BdfXMrny=#wL~~hKb3EDdtHA
T28Jf4NtPBC=BAtT8F_O7^bQoC

delta 64
zcmex!hw;xH#tn9ih9#LP2Ij?vMf&DOM&^l$N#-VoX67l028M=aCI%)cNvRf=sb+@e
T=4Pn|28I@9spgyW8F_O7#8(rI

diff --git a/master/.doctrees/doc/ros2_control_demos/doc/index.doctree b/master/.doctrees/doc/ros2_control_demos/doc/index.doctree
index bf852d4127ec9bca797c73409e7e456906e1008f..e3ef86e657fea197974114196bd455bcf12cc008 100644
GIT binary patch
delta 69
zcmbQy$~>c$d4n0FQ9(*cUVd_Rp1ws&ikW$mskxb{d1|t;QCgyzv5BRLVPbM(ig}WO
ZfuV_MlBI=(xvBo-f=%L^>lq~v0ssLY6_Ee{

delta 69
zcmbQy$~>c$d4n0FQAuWsfqAiEk-oW+k$GZblDUbYnR!a0fuW(9iGfKlq~v0szbZ6n_8!

diff --git a/master/.doctrees/doc/ros2_control_demos/doc/run_from_docker.doctree b/master/.doctrees/doc/ros2_control_demos/doc/run_from_docker.doctree
index 41ab3911a577419079d5dd14693e3226f104b316..2ac17d368621044a9f7ca2196f43d29ab77378d5 100644
GIT binary patch
delta 62
zcmeB_>Xh2h&th1RQj(XSoSmm{k&Xh2h&th1TnPOmGY*?gkZe(Phn3!a4VrXWbl4xLPXl7zyl9H5aVVP=XXl`zn
RYG7b!VU}vX`2dS22LM2)5ugA7

diff --git a/master/.doctrees/doc/ros2_control_demos/example_1/doc/userdoc.doctree b/master/.doctrees/doc/ros2_control_demos/example_1/doc/userdoc.doctree
index 1ec9bb945c5f9d6ea8e752ca1f32e81e983c28aa..c322ac9a8d57f9eacc91865479aa07b0cf7c1c85 100644
GIT binary patch
delta 76
zcmeBfWbJNb-4MlSRFG1Vm!F)Sr*DyxVrHIXYHns~o|<{9

delta 76
zcmeBfWbJNb-4MlSRFauuU|wukq;GCyWS*FqWNu<;W}cF0U}$J&VqlVzlxks_YG!C|
gZkB3bU}#~MYOX(tUwpExfN1j$#_c;8886!b09Mo$_W%F@

diff --git a/master/.doctrees/doc/ros2_control_demos/example_10/doc/userdoc.doctree b/master/.doctrees/doc/ros2_control_demos/example_10/doc/userdoc.doctree
index 0d83caaad89e3395b1e82a10bf33618c67899dd6..7db0ea2655c9f89ff4b3ada998b4f27c04969609 100644
GIT binary patch
delta 64
zcmdnKk8%4x#tkuyh6O1ldHKoNdHNP9DQ4zLrsig*=BdfXMrny=#wL~~hKb3EDdtHA
U28Jf4NtPBC=BAr_8CS&u0L()aq5uE@

delta 64
zcmdnKk8%4x#tkuyh9#LP2Ij?vMf&DOM&^l$N#-VoX67l028M=aCI%)cNvRf=sb+@e
U=4Pn|28I@9spgw|8CS&u0Gx~ykN^Mx

diff --git a/master/.doctrees/doc/ros2_control_demos/example_12/doc/userdoc.doctree b/master/.doctrees/doc/ros2_control_demos/example_12/doc/userdoc.doctree
index 4ee16b23e9e662f052dd9956d87ce69fea53bec3..8d64f6cb41b043ef885b53845190d459ab720c6a 100644
GIT binary patch
delta 69
zcmbRHk7@2drVTNSMg=J)dHKoNdHNP9DQ4zLrsig*=BdfXMrny=#wL~~hKb3EDdtHA
Z28Jf4NtPBC=BE0SCvb^xUdmXp7XV2L7ODUM

delta 69
zcmbRHk7@2drVTNSMkSdk2Ij?vMf&DOM&^l$N#-VoX67l028M=aCI%)cNvRf=sb+@e
Z=4Pn|28I@9spk5VCvb^xUdmXp7XTCa6_@}3

diff --git a/master/.doctrees/doc/ros2_control_demos/example_14/doc/userdoc.doctree b/master/.doctrees/doc/ros2_control_demos/example_14/doc/userdoc.doctree
index 1595f7e024e88affcf9ae05053b8c500f4d1a664..d476d69f4be5ac610593b448aafc2996c425bd5d 100644
GIT binary patch
delta 73
zcmeBQ!PLKkX+sR7Q9(*cUVd_Rp1ws&ikW$mskxb{d1|t;QCgyzv5BRLVPbM(ig}WO
dfuV_MlBI=(xvBnSL4NVcwR~cmcQb}e0sv-f7GnSa

delta 73
zcmeBQ!PLKkX+sR7QAuWsfqAiEk-oW+k$GZblDUbYnR!a0fuW(9iGfKQRAeEA-Et)$c02)2<_0o+NGdIKBqr2uuC@X4AGXl
zPHdS3`K4MJ%Uiwv)Z7>@@K7gng#yj)>D?||EL}9u^gTed{vjrc671luVjilvS9<{s
q9EkUkBdx};2Ri>y=e_vbAV%O`htG8t1coy6lInie5mMJ2i>D~jrsy?P|-^G8*M5H%{xicgJ_PVCvS7q8uE
zrd2qoLKwf3syLi8#Ez>1Rl60<1k~@f{@|Kb+#&pl3n6kYEe$wxYoZ2*G+#KZcyi`c?NFU@lS(G9DjF%
zq7Q~n0Nk@LO{eErcw{xv*JrvJ{;3Il!6QT4aYA=s$>SC*XT^GSI~uWOFzAJt0DL(Y
zNlf6c&26+4A7_LG6Owt<+S>6W;qg#BO7GvGGpsS<%S)pQ5kN;3cUZ8=T
zzzNj!KQ#I>RA?!mXZa=bvIXDH?6WI}CnXkMVWAL%1^iaXK^emrpYY4|x9q-D;rObV
gnKm;%Tz89f*OmJmyus>B463-NI1bBnuGlL61}`=LI{*Lx

diff --git a/master/.doctrees/doc/ros2_control_demos/example_3/doc/userdoc.doctree b/master/.doctrees/doc/ros2_control_demos/example_3/doc/userdoc.doctree
index ba779354d790dc83e53fb615b09bd67f1bd6059d..402ca452712646d1a8f6b176dc0592a9ce4610ac 100644
GIT binary patch
delta 73
zcmZ4UmTApfrVUYyMg=J)dHKoNdHNP9DQ4zLrsig*=BdfXMrny=#wL~~hKb3EDdtHA
d28Jf4NtPBC=BE0S1^L7$Z{-!;yo2$}766|a7#RQn

delta 73
zcmZ4UmTApfrVUYyMkSdk2Ij?vMf&DOM&^l$N#-VoX67l028M=aCI%)cNvRf=sb+@e
d=4Pn|28I@9spk5V1^L7$Z{-!;yo2$}764_y7Y6_U

diff --git a/master/.doctrees/doc/ros2_control_demos/example_4/doc/userdoc.doctree b/master/.doctrees/doc/ros2_control_demos/example_4/doc/userdoc.doctree
index 024923e738b269cfcd5fde6f21a27796cb33d0e0..7ef743d9ca359bc0483050e0cd02a7ed0fe8b5f8 100644
GIT binary patch
delta 73
zcmbQWoN3l_rVUYyMg=J)dHKoNdHNP9DQ4zLrsig*=BdfXMrny=#wL~~hKb3EDdtHA
d28Jf4NtPBC=BE0S75K#`_wtEu-of~2A^>f?7aafq

delta 73
zcmbQWoN3l_rVUYyMkSdk2Ij?vMf&DOM&^l$N#-VoX67l028M=aCI%)cNvRf=sb+@e
d=4Pn|28I@9spk5V75K#`_wtEu-of~2A^VV9Z)DuQk&)4AJ^;4&7*GHJ

delta 73
zcmaETknQzBwhd8?MkSdk2Ij?vMf&DOM&^l$N#-VoX67l028M=aCI%)cNvRf=sb+@e
d=4Pn|28I@9spk5V?>VV9Z)DuQk&)4AJ^+257d`+0

diff --git a/master/.doctrees/doc/ros2_control_demos/example_8/doc/userdoc.doctree b/master/.doctrees/doc/ros2_control_demos/example_8/doc/userdoc.doctree
index d0dcc61cb2a24728e49013fa31cdd879ee914e4f..f977f88f16f6d3ce461e913a401e8057584f9011 100644
GIT binary patch
delta 73
zcmX^2mGRtH#tl)7Mg=J)dHKoNdHNP9DQ4zLrsig*=BdfXMrny=#wL~~hKb3EDdtHA
d28Jf4NtPBC=BE0S5Aujlo?0cfc`u`2B>=uk7*YTL

delta 73
zcmX^2mGRtH#tl)7MkSdk2Ij?vMf&DOM&^l$N#-VoX67l028M=aCI%)cNvRf=sb+@e
d=4Pn|28I@9spk5V5Aujlo?0cfc`u`2B>;r+7eD|2

diff --git a/master/.doctrees/doc/ros2_control_demos/example_9/doc/userdoc.doctree b/master/.doctrees/doc/ros2_control_demos/example_9/doc/userdoc.doctree
index 3ef25aa9f326ae734d51f54f5206c6e3ddab5b46..433e34b47947db3634e0047a06359edd5d041e78 100644
GIT binary patch
delta 76
zcmex4kLl+;rVUYyrUfY_dHKoNdHNP9DQ4zLrsig*=BdfXMrny=#wL~~hKb3EDdtHA
g28Jf4NtPBC=BD~7`N@+%Mu<#4$Irca9pmX<0QZ0zEC2ui

delta 76
zcmex4kLl+;rVUYyrX`sv2Ij?vMf&DOM&^l$N#-VoX67l028M=aCI%)cNvRf=sb+@e
g=4Pn|28I@9spk4A`N@+%Mu<#4$Irca9pmX<0J`xR8UO$Q

diff --git a/master/.doctrees/doc/ros2_controllers/ackermann_steering_controller/doc/userdoc.doctree b/master/.doctrees/doc/ros2_controllers/ackermann_steering_controller/doc/userdoc.doctree
index cc0ff584107e3caa06e0e3e947965fb42e73f0e6..5910588bc8cbdb2c38a13b386577da1aa007fe56 100644
GIT binary patch
delta 71
zcmZpVYLD6w!)R2HQj(XSoSmm{k&)gYoDL#tlAt<8

delta 64
zcmX>)gYoDL#tlA

diff --git a/master/.doctrees/doc/ros2_controllers/bicycle_steering_controller/doc/userdoc.doctree b/master/.doctrees/doc/ros2_controllers/bicycle_steering_controller/doc/userdoc.doctree
index 255560b43ba557167f95bb829bf3c68a940acfd5..2c9c57c331049555ba96a2cb0b8dfe0bd15a08e2 100644
GIT binary patch
delta 71
zcmdnzyU%w+1fx+wN=aURa(14+MM{d9d6KEQnW=edvawNGqM5OYrHNr;a$<^kl7WGt
biD{Chg@w7P{$xQx(a94;WH#?+WL53-CN=aURa(14+MM{d9d6KEQnW=edvawNGqM5OYrHNr;a$<^kl7WGt
RiD{Chg@w84=5og6asYbl69fPN

delta 62
zcmbQ|FwbFw8>3-KW{QD%v0;(Exsj21Vq%iHiJ_T!N}_?Gp_z$+NlH?xg=MOlp}DzP
Rs)2!_g;}ck=5og6asW#;5%K^4

diff --git a/master/.doctrees/doc/ros2_controllers/force_torque_sensor_broadcaster/doc/userdoc.doctree b/master/.doctrees/doc/ros2_controllers/force_torque_sensor_broadcaster/doc/userdoc.doctree
index 3ef2d4744c164e3f9f9b075f18ae1bf0664f9e07..bcce5a2e498471e13eff0aefe01f05bd790791a9 100644
GIT binary patch
delta 62
zcmccUe9?JB0;6F;N=aURa(14+MM{d9d6KEQnW=edvawNGqM5OYrHNr;a$<^kl7WGt
RiD{Chg@w84=823B3ILi26F&d|

delta 62
zcmccUe9?JB0;6F`W{QD%v0;(Exsj21Vq%iHiJ_T!N}_?Gp_z$+NlH?xg=MOlp}DzP
Rs)2!_g;}ck=823B3IJ+R5-k7#

diff --git a/master/.doctrees/doc/ros2_controllers/forward_command_controller/doc/userdoc.doctree b/master/.doctrees/doc/ros2_controllers/forward_command_controller/doc/userdoc.doctree
index 50fc98812872b441ab60122196cb30be69bb1f0b..26b32f18636d27e4b303473871c3fc7e6a9ae489 100644
GIT binary patch
delta 67
zcmX?^ax!H@7^6`^N=aURa(14+MM{d9d6KEQnW=edvawNGqM5OYrHNr;a$<^kl7WGt
XiD{Chg@w7P{$xf)gUve_CmH|%2I&<9

delta 67
zcmX?^ax!H@7^6{1W{QD%v0;(Exsj21Vq%iHiJ_T!N}_?Gp_z$+NlH?xg=MOlp}DzP
Xs)2!_g;}b({$xf)gUve_CmH|%(a96?

diff --git a/master/.doctrees/doc/ros2_controllers/gripper_controllers/doc/userdoc.doctree b/master/.doctrees/doc/ros2_controllers/gripper_controllers/doc/userdoc.doctree
index 73ad0adeb72bb7a7204e42b2484ed006d2ee1f5a..b791dd8060d822130851c6fffa6ee28761b9b9c9 100644
GIT binary patch
delta 62
zcmZn;Y!2Mu!Dv{JQj(XSoSmm{k&JQ3~sW28W3(i
Qy4t1y88Sl)@q5aGA5Ux%fB*mh

diff --git a/master/.doctrees/doc/ros2_controllers/joint_state_broadcaster/doc/userdoc.doctree b/master/.doctrees/doc/ros2_controllers/joint_state_broadcaster/doc/userdoc.doctree
index d40b3757f5dcea2d817b2241f6485676fd27759c..b92e83da416977e7722fd1d2c349dedd97a9347e 100644
GIT binary patch
delta 64
zcmdnm%eb|daYF#3VL?hsUVd_Rp1ws&ikW$mskxb{d1|t;QCgyzv5BRLVPbM(ig}WO
TfuV_MlBI=(x#{LcMiW;6uig`u

delta 64
zcmdnm%eb|daYF#3VM%6+fqAiEk-oW+k$GZblDUbYnR!a0fuW(9iGfK*(t5Tjv1N=aURa(14+MM{d9d6KEQnW=edvawNGqM5OYrHNr;a$<^kl7WGt
RiD{Chg@w84=4QrZB>*(t5Tjv9W{QD%v0;(Exsj21Vq%iHiJ_T!N}_?Gp_z$+NlH?xg=MOlp}DzP
Rs)2!_g;}ck=4QrZB>;0J5@-Mb

diff --git a/master/.doctrees/doc/ros2_controllers/rqt_joint_trajectory_controller/doc/userdoc.doctree b/master/.doctrees/doc/ros2_controllers/rqt_joint_trajectory_controller/doc/userdoc.doctree
index 7a9a7c10eef64a4cc86cb881f0f1b562411dcf28..424262b64c07ea57e1e453b6a173f67b633fdd94 100644
GIT binary patch
delta 62
zcmbO)H(zc;0;6F;N=aURa(14+MM{d9d6KEQnW=edvawNGqM5OYrHNr;a$<^kl7WGt
RiD{Chg@w84=824byZ~`!63hSq

delta 62
zcmbO)H(zc;0;6F`W{QD%v0;(Exsj21Vq%iHiJ_T!N}_?Gp_z$+NlH?xg=MOlp}DzP
Rs)2!_g;}ck=824byZ}M25xM{X

diff --git a/master/.doctrees/doc/ros2_controllers/steering_controllers_library/doc/userdoc.doctree b/master/.doctrees/doc/ros2_controllers/steering_controllers_library/doc/userdoc.doctree
index 64a333f1fcbef41899f8bb23781e6957dfe6667c..67021124e54ed5fe3881459fbcb9faad747f0230 100644
GIT binary patch
delta 69
zcmeygk?GS$rVUYyMg=J)dHKoNdHNP9DQ4zLrsig*=BdfXMrny=#wL~~hKb3EDdtHA
Z28Jf4NtPBC=BE0S`-E*bpJddW4ggL+7L))0

delta 69
zcmeygk?GS$rVUYyMkSdk2Ij?vMf&DOM&^l$N#-VoX67l028M=aCI%)cNvRf=sb+@e
Z=4Pn|28I@9spk5V`-E*bpJddW4geW06@mZ&

diff --git a/master/.doctrees/doc/ros2_controllers/tricycle_controller/doc/userdoc.doctree b/master/.doctrees/doc/ros2_controllers/tricycle_controller/doc/userdoc.doctree
index d4b7b0e8688ba893b3cb3d56183b0f2a5520799d..b908e7e96d6e043bdea3938ad900cc422549bb65 100644
GIT binary patch
delta 62
zcmbQMF;`=Q2cuy@N=aURa(14+MM{d9d6KEQnW=edvawNGqM5OYrHNr;a$<^kl7WGt
RiD{Chg@w84=1RsTLI7`?62|}l

delta 62
zcmbQMF;`=Q2cuz0W{QD%v0;(Exsj21Vq%iHiJ_T!N}_?Gp_z$+NlH?xg=MOlp}DzP
Rs)2!_g;}ck=1RsTLI6MG5w!pS

diff --git a/master/.doctrees/doc/ros2_controllers/tricycle_steering_controller/doc/userdoc.doctree b/master/.doctrees/doc/ros2_controllers/tricycle_steering_controller/doc/userdoc.doctree
index 3fad3a296cce4464bc532340d32cdca4f22d7b2f..b02a1f3d7edbe1ea26708075f301778aaf528925 100644
GIT binary patch
delta 71
zcmaDJ_&jh!6r)i=N=aURa(14+MM{d9d6KEQnW=edvawNGqM5OYrHNr;a$<^kl7WGt
biD{Chg@w7P{^Wjs(aAsAH8!7Qlv4))YqS>6

delta 71
zcmaDJ_&jh!6r)i|W{QD%v0;(Exsj21Vq%iHiJ_T!N}_?Gp_z$+NlH?xg=MOlp}DzP
bs)2!_g;}b({^Wjs(aAsAH8!7Qlv4))GFuhB

diff --git a/master/.doctrees/doc/ros2_controllers/velocity_controllers/doc/userdoc.doctree b/master/.doctrees/doc/ros2_controllers/velocity_controllers/doc/userdoc.doctree
index a7d98aad5dc5161047aee66a0a59f0ad51b130e9..f29260f8e8fa891c7a23a87cc1a030d0620bf21c 100644
GIT binary patch
delta 62
zcmaFj@Wf$*7o%Z8N=aURa(14+MM{d9d6KEQnW=edvawNGqM5OYrHNr;a$<^kl7WGt
RiD{Chg@w84=4!^5asZvc6WRa(

delta 62
zcmaFj@Wf$*7o%ZGW{QD%v0;(Exsj21Vq%iHiJ_T!N}_?Gp_z$+NlH?xg=MOlp}DzP
Rs)2!_g;}ck=4!^5asX}#6374m

diff --git a/master/.doctrees/doc/simulators/simulators.doctree b/master/.doctrees/doc/simulators/simulators.doctree
index 9c888f5ea0ee790b0eacd4e9482e86a1da1657f6..d62cb8074b1e5ce85d337c64cf919792b1e754c4 100644
GIT binary patch
delta 62
zcmeA*=r!1&#%NfOQj(XSoSmm{k&CXnjTFo(byF=8oU3s_8yLs+G}6*@urGtriL&
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diff --git a/master/.doctrees/index.doctree b/master/.doctrees/index.doctree
index 70f2aee1384c53ba00cdbfb016d8be5df50d9282..5aa35ccf766f5e7f7b120e83a060e15c3016278d 100644
GIT binary patch
delta 82
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m28Jf4NtPBC=BAs|8O?$ijW^E=He+Noo@^f~z4=4Pb};~A5E?Q7

delta 82
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m=4Pn|28I@9spgy08O?$ijW*8Maintainers
0.82
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0.88 @@ -228,7 +228,7 @@

Maintainers
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0.87 @@ -353,7 +353,7 @@

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0.97
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Reviewers’ Stats
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Reviewers’ Stats
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Reviewers’ Stats
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Reviewers’ Stats
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Reviewers’ Stats
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Reviewers’ Stats -
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Reviewers’ Stats
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Reviewers’ Stats -
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Reviewers’ Stats
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Reviewers’ Stats
0.97
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Reviewers’ Stats -
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Reviewers’ Stats -
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Reviewers’ Stats -
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Reviewers’ Stats -
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0.42 @@ -4073,7 +4073,7 @@

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Reviewers’ Stats -
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0.05
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Reviewers’ Stats -
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Reviewers’ Stats -
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Reviewers’ Stats -
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Reviewers’ Stats -
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Reviewers’ Stats -
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0.02
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Reviewers’ Stats -
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0.02
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Reviewers’ Stats -
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Reviewers’ Stats -
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Reviewers’ Stats -
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0.02
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Reviewers’ Stats -
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0.01
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Reviewers’ Stats -
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Reviewers’ Stats -
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0.01
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Reviewers’ Stats -
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Reviewers’ Stats -
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Reviewers’ Stats -
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Reviewers’ Stats -
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Reviewers’ Stats -
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Reviewers’ Stats -
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Reviewers’ Stats -
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Reviewers’ Stats -
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Reviewers’ Stats -
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Reviewers’ Stats -
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Reviewers’ Stats -
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Reviewers’ Stats -
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Reviewers’ Stats -
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Reviewers’ Stats -
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Reviewers’ Stats -
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Reviewers’ Stats -
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Reviewers’ Stats -
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Reviewers’ Stats -
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Reviewers’ Stats -
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Reviewers’ Stats
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Reviewers’ Stats
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Reviewers’ Stats
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Reviewers’ Stats
ros2 topic pub --rate 30 /diffbot_base_controller/cmd_vel_unstamped geometry_msgs/msg/Twist "linear:
-  x: 0.7
-  y: 0.0
-  z: 0.0
-angular:
-  x: 0.0
-  y: 0.0
-  z: 1.0"
+
ros2 topic pub --rate 30 /diffbot_base_controller/cmd_vel geometry_msgs/msg/TwistStamped "
+twist:
+  linear:
+    x: 0.7
+    y: 0.0
+    z: 0.0
+  angular:
+    x: 0.0
+    y: 0.0
+    z: 1.0"
 

 

 
You should now see an orange box circling in RViz.
diff --git a/master/index.html b/master/index.html
index abf461e5dc8..bc572542cf0 100644
--- a/master/index.html
+++ b/master/index.html
@@ -148,7 +148,7 @@ 
Development Organisation and Communication
-
Built on 2024-01-02 at 05:31 GMT

+
Built on 2024-01-03 at 05:31 GMT

 
 
 
diff --git a/master/searchindex.js b/master/searchindex.js
index 17c9c4a30e3..a6c58aeb3fa 100644
--- a/master/searchindex.js
+++ b/master/searchindex.js
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"In": [2, 3, 4, 5, 6, 7, 9, 15, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 35, 36, 42, 44, 50], "had": 2, "itself": [2, 9], "took": 2, "care": [2, 6, 10, 15, 24, 36, 45], "regist": [2, 3, 5], "resourc": [2, 3, 5, 15, 24], "conflict": [2, 4, 6], "resourcemanag": [2, 9], "take": [2, 6, 9, 15, 21, 24, 34, 36, 42, 44], "state": [2, 3, 4, 5, 6, 7, 9, 10, 12, 13, 14, 15, 16, 17, 19, 20, 21, 23, 24, 25, 26, 27, 28, 29, 30, 35, 36, 38, 42, 43], "avail": [2, 4, 7, 9, 16, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 36, 42, 45], "enabl": [2, 4, 6, 7, 12, 15, 16, 17, 23, 32, 38, 46, 50], "anymor": 2, "controllermanag": [2, 10], "implement": [2, 3, 4, 5, 6, 7, 10, 13, 14, 15, 17, 19, 21, 22, 23, 24, 25, 26, 27, 28, 29, 31, 32, 33, 34, 36, 39, 44, 45, 46, 50, 51, 52, 56], "systeminterfac": [2, 3, 5, 14, 25, 28], "granular": 2, "sensorinterfac": [2, 22, 26], "actuatorinterfac": [2, 22, 27], "abov": [2, 19, 20, 21, 22, 23, 24, 25, 26, 27, 29, 30, 35, 44], "choos": [2, 17, 50], "suitabl": [2, 7], "strategi": [2, 17, 44], "decid": 2, "which": [2, 3, 4, 5, 6, 7, 8, 10, 15, 16, 17, 19, 23, 24, 25, 26, 27, 28, 29, 30, 34, 35, 36, 38, 41, 42, 43, 44, 45, 48, 50, 51], "case": [2, 3, 5, 6, 7, 9, 17, 21, 28, 36, 42, 44, 45, 56], "mayb": [2, 9], "sens": [2, 4, 35, 38], "multipl": [2, 4, 7, 9, 13, 15, 17, 42, 43], "constructor": [2, 15, 28, 36], "initi": [2, 15, 28, 36, 44], "variabl": [2, 15, 28, 36, 43], "need": [2, 3, 4, 5, 6, 7, 9, 13, 15, 17, 19, 22, 23, 24, 25, 26, 27, 28, 29, 35, 36, 44, 46], "commun": [2, 4, 6, 7, 15, 17, 19, 22, 23, 24, 25, 26, 28, 29, 55], "default": [2, 4, 9, 10, 14, 24, 31, 33, 39, 40, 41, 42, 43, 44, 45, 46, 48, 50, 52], "configur": [2, 3, 4, 5, 6, 7, 9, 10, 12, 14, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 36, 42, 43, 44, 45, 50], "paramet": [2, 3, 5, 7, 8, 15, 17, 19, 23, 28, 36, 45], "pars": [2, 3, 5, 10, 11, 13], "urdf": [2, 7, 10, 13, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 29, 30], "snippet": 2, "hardwareinfo": [2, 28], "here": [2, 11, 15, 28, 36, 37, 45, 47, 53], "cross": [2, 42], "valu": [2, 4, 6, 13, 14, 15, 17, 19, 20, 21, 23, 25, 26, 28, 30, 36, 41, 42, 43, 45, 48, 50], "export_": 2, "_interfac": [2, 15], "joint_a2": 2, "extract": [2, 34, 51], "sensibl": 2, "stop": [2, 7, 9, 10, 12, 16, 19, 23, 24, 28, 34, 43, 51], "usual": [2, 4, 10, 14, 15, 28, 36], "includ": [2, 3, 5, 6, 8, 10, 12, 15, 16, 28, 36, 45, 55], "command": [2, 3, 4, 5, 6, 7, 8, 10, 11, 13, 14, 15, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 33, 34, 35, 36, 37, 39, 40, 43, 44, 47, 49, 52, 53, 56], "safe": [2, 28, 34, 36, 45, 51], "interrupt": [2, 10], "stream": [2, 7], "write": [2, 4, 7, 9, 10, 11, 21, 22, 23, 27, 35, 46], "exchang": [2, 6, 19, 22, 23, 24, 25, 26, 27, 29, 56], "equival": [2, 28], "forget": [2, 4, 17, 45], "pluginlib_export_class": [2, 15, 17, 28, 36], "macro": [2, 4, 15, 17, 28, 36], "end": [2, 4, 12, 15, 28, 36, 43, 55], "cpp": [2, 15, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 36], "file": [2, 3, 4, 5, 6, 7, 10, 14, 15, 17, 32, 34, 36, 37, 45, 47, 53], "creat": [2, 3, 4, 5, 7, 10, 14, 15, 17, 28, 36], "xml": [2, 3, 5, 12, 15, 28, 36], "librari": [2, 4, 15, 16, 17, 31, 33, 35, 36, 46, 50, 52], "pluginlib": [2, 3, 4, 5, 10, 15, 28, 36, 46], "exampl": [2, 3, 4, 5, 6, 7, 9, 10, 14, 16, 23, 32, 37, 38, 42, 45, 46, 47, 53, 56], "rrbotsystempositiononlyhardwar": [2, 4, 13, 16, 19, 21, 26], "excel": 2, "jointtrajectorycontrol": [2, 3, 5, 16, 19, 32, 45], "real": [2, 6, 7, 10, 14, 23, 36, 42, 43, 56], "critic": [2, 6], "mark": [2, 21], "controllerinterfac": [2, 4, 9, 16, 28, 36], "member": [2, 15, 28, 36, 44], "init": 2, "call": [2, 3, 4, 5, 9, 15, 23, 28, 36], "lifecycl": [2, 4, 7, 10, 12, 15, 28, 35], "declar": [2, 15, 28, 36], "state_interface_configur": [2, 28, 36], "command_interface_configur": [2, 28, 36], "design": [2, 4, 6, 7, 9, 28, 56], "updat": [2, 4, 9, 10, 17, 28, 35, 36, 45, 50], "manag": [2, 3, 5, 6, 7, 11, 12, 15, 16, 17, 28, 36, 45, 56], "option": [2, 3, 5, 10, 12, 14, 15, 16, 19, 24, 35, 36, 38, 42, 45, 46, 50], "on_configur": [2, 15, 28, 36], "on_activ": [2, 12, 15, 28, 36], "on_deactiv": [2, 12, 15, 28, 36], "deactiv": [2, 4, 16, 19, 43], "final": [2, 7, 12, 28], "joint_trajectory_plugin": 2, "integr": [3, 4, 5, 6, 7, 14, 17, 21, 23, 28, 43, 44, 45, 56], "architectur": [3, 5, 6, 7, 8], "gazebo": [3, 5, 6, 17, 19, 30, 54], "classic": [3, 17, 30, 54], "provid": [3, 4, 5, 6, 7, 9, 10, 13, 14, 15, 17, 19, 21, 24, 25, 26, 27, 28, 29, 30, 32, 36, 42, 43, 44, 45, 50, 56], "instanti": [3, 5, 10], "connect": [3, 4, 5, 14, 17, 25, 28], "model": [3, 5, 19, 28], "cd": [3, 4, 5, 8, 17, 28], "docker": [3, 5, 8, 18, 19, 21, 22, 23, 24, 25, 26, 27, 29, 30], "gui": [3, 5, 17, 19, 21, 22, 24, 25, 26, 27, 29, 30, 49], "properli": [3, 5, 9, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30], "rm": [3, 4, 5, 17, 19, 30], "net": [3, 5, 7, 17, 19, 30], "host": [3, 5, 17, 19, 30, 55], "ros2": [3, 4, 5, 7, 10, 15, 16, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 36], "launch": [3, 4, 5, 10, 14, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 29, 30], "cart_example_posit": [3, 5], "py": [3, 5, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30], "fals": [3, 5, 14, 17, 19, 30, 34, 40, 42, 43, 45, 46, 50], "machin": [3, 4, 5, 6, 17, 30], "client": [3, 5, 30, 45], "gzclient": [3, 30], "rocker": [3, 5], "go": [3, 5, 7, 10, 15, 28, 36], "imag": [3, 5, 10, 30], "inject": [3, 5, 7, 8], "nvidia": [3, 5], "And": 3, "user": [3, 5, 6, 10, 17, 28, 44], "id": [3, 5, 16, 19, 22, 23, 24, 25, 26, 27, 29], "specif": [3, 5, 6, 9, 10, 12, 13, 28, 30, 39, 42, 44, 45], "cleaner": [3, 5], "mount": [3, 5], "permiss": [3, 5, 10], "instal": [3, 5, 8, 10, 15, 18, 19, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 36], "instruct": [3, 5, 8, 23, 28, 30], "x11": [3, 5], "latest": [3, 4, 5, 8], "move": [3, 5, 17, 19, 21, 22, 23, 24, 25, 26, 27, 29, 30, 40], "cart": [3, 5], "rail": [3, 5], "exec": [3, 5, 19], "bash": [3, 4, 5, 8, 15, 17, 19, 28, 36], "home": [3, 5], "ros2_w": [3, 4, 5, 17], "example_posit": [3, 5], "element": [3, 5, 28], "access": [3, 4, 5, 7, 10, 14, 19, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 36, 42], "interfac": [3, 5, 6, 7, 9, 10, 11, 12, 14, 15, 17, 19, 21, 22, 23, 25, 26, 27, 30, 31, 33, 35, 36, 38, 41, 43, 44, 48, 52, 54, 55, 56], "gazebosystem": 3, "hardwar": [3, 5, 7, 8, 9, 11, 14, 16, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 29, 30, 34, 35, 36, 43, 46, 51, 56], "slider_to_cart": [3, 5, 37, 47, 53], "command_interfac": [3, 4, 5, 13, 21, 28, 32, 43, 45, 46], "param": [3, 4, 5, 10, 13, 14, 23, 28], "min": [3, 4, 5, 13, 28], "1000": [3, 5, 28], "max": [3, 4, 5, 13, 28, 40], "state_interfac": [3, 4, 5, 13, 28, 32, 43, 45], "initial_valu": [3, 5, 28], "mimick": [3, 5, 14], "manual": [3, 4, 5, 6, 10, 15, 17, 19, 24, 25, 26, 27, 29, 30, 36, 56], "multipli": [3, 5, 14], "definit": [3, 4, 5, 10, 15, 28, 32, 34, 35, 36, 38, 43], "left_finger_joint": [3, 5], "prismat": [3, 5], "right_finger_joint": [3, 5], "axi": [3, 5, 6, 28, 31, 33, 34, 38, 52], "xyz": [3, 5, 28], "rpy": [3, 5, 28], "1415926535": [3, 5], "parent": [3, 5, 15, 28, 36], "base": [3, 4, 5, 7, 12, 15, 16, 17, 22, 23, 27, 28, 34, 36, 39, 50, 51, 54], "child": [3, 5, 13, 28], "finger_left": [3, 5], "lower": [3, 5, 28], "upper": [3, 5, 28], "actual": [3, 5, 9], "load": [3, 4, 5, 10, 15, 16, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 35, 36], "appropri": [3, 5, 6, 44], "By": [3, 5, 10, 28, 42, 44], "though": [3, 5, 10, 21], "extens": [3, 5], "via": [3, 4, 5, 17, 19, 25, 26, 28, 30, 45], "between": [3, 4, 5, 6, 12, 13, 17, 28, 31, 33, 42, 43, 44, 45, 46, 52], "filenam": [3, 5, 28], "libgazebo_ros2_control": 3, "so": [3, 4, 5, 9, 10, 15, 28, 32, 36, 45], "robot_param": [3, 5], "robot_descript": [3, 5, 10, 19, 28], "robot_param_nod": [3, 5], "robot_state_publish": [3, 5, 42], "config": [3, 5, 17], "cart_control": 3, "yaml": [3, 4, 5, 6, 8, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 45], "locat": [3, 8, 28, 32], "server": [3, 40, 45], "node": [3, 4, 5, 10, 12, 14, 16, 19, 22, 23, 24, 25, 26, 27, 28, 29, 30, 36], "hold_joint": 3, "true": [3, 23, 30, 34, 43, 44, 45, 46, 50], "hold": [3, 43, 44], "wa": [3, 6, 8, 15, 19, 23, 24, 28, 36, 44], "claim": [3, 9, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30], "hasn": 3, "been": [3, 21], "yet": [3, 9, 10, 17, 21, 34, 44, 45], "attempt": [3, 5, 10, 45], "get": [3, 5, 7, 8, 9, 10, 12, 15, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 44, 46, 56], "most": [3, 5, 6, 15, 17, 28, 36], "least": [3, 5, 13, 15, 36, 45], "jointstateinterfac": [3, 5], "effortjointinterfac": [3, 5], "velocityjointinterfac": [3, 5], "complex": [3, 4, 5, 6, 7, 8, 9], "mechan": [3, 5, 9, 45], "nonlinear": [3, 5], "spring": [3, 5], "linkag": [3, 5, 19, 21, 29], "etc": [3, 5, 10, 24, 28, 56], "These": [3, 5, 17, 28], "inherit": [3, 5, 10, 28], "gazebosysteminterfac": 3, "level": [3, 5, 6, 7, 10, 21, 22, 27, 37, 44, 47, 53], "properti": [3, 5, 28], "sub": [3, 5], "class": [3, 4, 5, 7, 10, 12, 15, 16, 28, 36, 39, 44], "specifi": [3, 5, 10, 15, 17, 28, 35, 36, 43, 44, 45, 46], "insid": [3, 5, 14, 17, 19], "joint_state_broadcast": [3, 13, 19, 20, 21, 22, 23, 24, 25, 26, 27, 29, 30], "publish": [3, 5, 6, 9, 13, 17, 20, 28, 32, 35, 38, 41, 42, 44, 48, 51, 56], "stateinterfac": [3, 5, 28], "topic": [3, 5, 6, 7, 9, 13, 19, 20, 21, 22, 23, 24, 25, 26, 27, 29, 30, 35, 45, 46, 54], "sensor_msg": [3, 5, 41, 48], "msg": [3, 5, 19, 20, 21, 22, 23, 24, 25, 26, 27, 29, 30, 32, 34, 37, 38, 39, 41, 44, 45, 46, 47, 48, 50, 53], "jointstat": [3, 5], "joint_trajectory_control": [3, 5, 6, 16, 19, 35, 49], "action": [3, 5, 9, 43], "follow_joint_trajectori": [3, 5, 45], "followjointtrajectori": [3, 5, 43, 45], "controller_manag": [3, 4, 5, 6, 10, 16, 24, 35, 36, 37, 45, 47, 53], "ros__paramet": [3, 5, 37, 45, 47, 53], "update_r": [3, 10, 35, 37, 47, 53], "hz": [3, 37, 40, 47, 53], "jointstatebroadcast": [3, 19, 20, 21, 22, 23, 24, 25, 26, 27, 29, 30], "interface_nam": [3, 20, 38, 39], "contain": [3, 8, 17, 18, 19, 21, 22, 23, 24, 25, 26, 27, 28, 29, 32, 37, 43, 44, 46, 47, 50, 53], "content": [3, 15, 28, 36], "There": [3, 4, 5, 10, 12, 15, 17, 22, 25, 26, 27, 36, 44, 45], "meter": [3, 5, 28], "cart_example_veloc": [3, 5], "cart_example_effort": [3, 5], "diff_driv": 3, "tricycle_dr": 3, "world": [3, 5, 10, 14, 28], "example_veloc": [3, 5], "example_effort": [3, 5], "example_diff_dr": [3, 5], "example_tricycle_dr": [3, 5], "parallel": [3, 4, 5, 13, 14], "gripper_mimic_joint_exampl": [3, 5], "send": [3, 5, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 44, 45, 46], "example_gripp": [3, 5], "roll": [4, 8, 17, 28], "want": [4, 8, 9, 10, 17], "download": [4, 17], "mkdir": [4, 8, 17], "p": [4, 8, 10, 17, 43], "src": [4, 8, 15, 17, 19, 28, 30, 32, 36], "wget": 4, "raw": 4, "githubusercont": 4, "com": [4, 6, 8, 17, 28], "org": [4, 6, 31, 33, 52], "ros_control": [4, 6, 7, 56], "vc": [4, 8, 17], "import": [4, 8, 15, 17, 28, 36, 43], "rosdep": [4, 17], "rosdistro": [4, 17], "sudo": [4, 8, 10, 17], "apt": [4, 8, 10, 17], "path": [4, 7, 17, 28, 45], "ignor": [4, 10, 17, 34, 43, 50, 51], "r": [4, 17, 29], "y": [4, 17, 23, 25, 26, 32, 38, 41], "everyth": [4, 15, 17, 19, 21, 22, 23, 24, 25, 26, 27, 29, 30, 36], "opt": [4, 8, 17, 19], "setup": [4, 8, 14, 15, 17, 19, 23, 28, 30, 36, 44, 46], "sh": [4, 17, 19, 30], "colcon": [4, 8, 15, 17, 28, 36], "symlink": [4, 8, 17, 28], "folder": [4, 7, 15, 17, 19, 20, 23, 31, 32, 33, 36, 50, 52], "found": [4, 10, 11, 15, 19, 20, 23, 32, 34, 36, 39, 45, 56], "github": [4, 6, 8, 11, 17, 28, 35, 54, 55, 56], "figur": [4, 44], "uml": 4, "diagram": [4, 16], "intern": [4, 6, 9, 13, 15, 19, 21, 22, 23, 24, 25, 26, 27, 29, 32, 44, 45], "cm": [4, 10], "abstract": [4, 7, 12, 28], "side": [4, 6, 7], "entri": [4, 36], "point": [4, 28, 36, 43, 44, 45, 46, 56], "servic": [4, 6, 10, 12, 28, 35], "executor": [4, 10], "custom": [4, 13, 14, 17, 22, 23, 38, 42, 54], "howev": [4, 6, 9, 10, 17, 21, 28], "recommend": [4, 7, 8, 15, 46], "ros2_control_nod": [4, 24, 28], "assum": [4, 9], "On": [4, 7, 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2022": [[7, "ros-industrial-conference-2022"]], "2022-10 ROSCon 2022": [[7, "roscon-2022"]], "2022-06 ROSCon Fr 2022": [[7, "roscon-fr-2022"]], "2021-10 ROS World 2021": [[7, "ros-world-2021"]], "2021-10-07 Weekly Robotics Meetup #13": [[7, "weekly-robotics-meetup-13"]], "2021-06 ROSDevDay 2021": [[7, "rosdevday-2021"]], "2021-05 ROSCon Fr 2021": [[7, "roscon-fr-2021"]], "Diagrams": [[7, "diagrams"]], "Images": [[7, "images"]], "ROSCon 2023 Workshop": [[8, "roscon-2023-workshop"]], "ros2_control on Steroids": [[8, "ros2-control-on-steroids"]], "Summary": [[8, "summary"]], "Slides": [[8, "slides"]], "Before coming to the conference": [[8, "before-coming-to-the-conference"]], "People": [[8, "people"]], "Controller Chaining / Cascade Control": [[9, "controller-chaining-cascade-control"]], "Scope of the Document and Background Knowledge": [[9, "scope-of-the-document-and-background-knowledge"]], "Motivation, Purpose and Use": [[9, "motivation-purpose-and-use"]], "Implementation": [[9, "implementation"]], "A Controller Base-Class: ChainableController": [[9, "a-controller-base-class-chainablecontroller"]], "Inner Resource Management": [[9, "inner-resource-management"]], "Activation and Deactivation Chained Controllers": [[9, "activation-and-deactivation-chained-controllers"]], "Debugging outputs": [[9, "debugging-outputs"]], "Closing remarks": [[9, "closing-remarks"]], "Determinism": [[10, "determinism"]], "Parameters": [[10, "parameters"], [14, "parameters"], [31, "parameters"], [32, "parameters"], [33, "parameters"], [34, "parameters"], [37, "parameters"], [38, "parameters"], [39, "parameters"], [40, "parameters"], [41, "parameters"], [42, "parameters"], [46, "parameters"], [47, "parameters"], [48, "parameters"], [50, "parameters"], [52, "parameters"], [53, "parameters"]], "Helper scripts": [[10, "helper-scripts"]], "spawner": [[10, "spawner"]], "unspawner": [[10, "unspawner"]], "Using the Controller Manager in a Process": [[10, "using-the-controller-manager-in-a-process"]], "Concepts": [[10, "concepts"], [11, "concepts"]], "Restarting all controllers": [[10, "restarting-all-controllers"]], "Restarting hardware": [[10, "restarting-hardware"]], "ros2_control": [[11, "ros2-control"]], "API Documentation": [[11, "api-documentation"]], "Features": [[11, "features"]], "Guidelines and Best Practices": [[12, "guidelines-and-best-practices"], [35, "guidelines-and-best-practices"]], "Handling of errors that happen during read() and write() calls": [[12, "handling-of-errors-that-happen-during-read-and-write-calls"]], "Migration from Foxy to newer versions": [[12, "migration-from-foxy-to-newer-versions"]], "ros2_control hardware interface types": [[13, "ros2-control-hardware-interface-types"]], "Joints": [[13, "joints"]], "Sensors": [[13, "sensors"]], "GPIOs": [[13, "gpios"]], "Examples": [[13, "examples"], [17, "examples"]], "Mock Components": [[14, "mock-components"]], "Generic System": [[14, "generic-system"]], "Per-joint Parameters": [[14, "per-joint-parameters"]], "Writing a Hardware Component": [[15, "writing-a-hardware-component"]], "Useful External References": [[15, "useful-external-references"], [36, "useful-external-references"]], "Command Line Interface": [[16, "command-line-interface"]], "list_controllers": [[16, "list-controllers"]], "list_controller_types": [[16, "list-controller-types"]], "list_hardware_components": [[16, "list-hardware-components"]], "list_hardware_interfaces": [[16, "list-hardware-interfaces"]], "load_controller": [[16, "load-controller"]], "reload_controller_libraries": [[16, "reload-controller-libraries"]], "set_controller_state": [[16, "set-controller-state"]], "switch_controllers": [[16, "switch-controllers"]], "unload_controller": [[16, "unload-controller"]], "view_controller_chains": [[16, "view-controller-chains"]], "Demos": [[17, "demos"]], "What you can find in this repository": [[17, "what-you-can-find-in-this-repository"]], "Goals": [[17, "goals"]], "Examples Overview": [[17, "examples-overview"]], "Local installation": [[17, "local-installation"]], "Build from debian packages": [[17, "build-from-debian-packages"]], "Build from source": [[17, "build-from-source"]], "Using Docker": [[17, "using-docker"]], "To view the robot": [[17, "to-view-the-robot"]], "To run the ros2_control demos": [[17, "to-run-the-ros2-control-demos"]], "Quick Hints": [[17, "quick-hints"]], "Example 1: RRBot": [[19, "example-1-rrbot"]], "Tutorial steps": [[19, "tutorial-steps"], [21, "tutorial-steps"], [22, "tutorial-steps"], [23, "tutorial-steps"], [24, "tutorial-steps"], [25, "tutorial-steps"], [26, "tutorial-steps"], [27, "tutorial-steps"], [29, "tutorial-steps"], [30, "tutorial-steps"]], "Files used for this demos": [[19, "files-used-for-this-demos"], [20, "files-used-for-this-demos"], [21, "files-used-for-this-demos"], [22, "files-used-for-this-demos"], [23, "files-used-for-this-demos"], [24, "files-used-for-this-demos"], [26, "files-used-for-this-demos"], [27, "files-used-for-this-demos"], [29, "files-used-for-this-demos"], [30, "files-used-for-this-demos"]], "Controllers from this demo": [[19, "controllers-from-this-demo"], [20, "controllers-from-this-demo"], [21, "controllers-from-this-demo"], [22, "controllers-from-this-demo"], [23, "controllers-from-this-demo"], [24, "controllers-from-this-demo"], [25, "controllers-from-this-demo"], [26, "controllers-from-this-demo"], [27, "controllers-from-this-demo"], [29, "controllers-from-this-demo"], [30, "controllers-from-this-demo"]], "Example 10: Industrial robot with GPIO interfaces": [[20, "example-10-industrial-robot-with-gpio-interfaces"]], "Example 12: Controller chaining with RRBot": [[21, "example-12-controller-chaining-with-rrbot"]], "Example 14: Modular robot with actuators not providing states": [[22, "example-14-modular-robot-with-actuators-not-providing-states"]], "DiffBot": [[23, "diffbot"]], "Example 3: Robots with multiple interfaces": [[24, "example-3-robots-with-multiple-interfaces"]], "Example 4: Industrial robot with integrated sensor": [[25, "example-4-industrial-robot-with-integrated-sensor"]], "Files used for this demo": [[25, "files-used-for-this-demo"]], "Example 5: Industrial robot with externally connected sensor": [[26, "example-5-industrial-robot-with-externally-connected-sensor"]], "Example 6: Modular Robots with separate communication to each actuator": [[27, "example-6-modular-robots-with-separate-communication-to-each-actuator"]], "Example 7: Full tutorial with a 6DOF robot": [[28, "example-7-full-tutorial-with-a-6dof-robot"]], "ros2_control overview": [[28, "ros2-control-overview"]], "Writing a URDF": [[28, "writing-a-urdf"]], "Geometry": [[28, "geometry"]], "URDF file": [[28, "urdf-file"]], "Writing a hardware interface": [[28, "writing-a-hardware-interface"]], "Plugin description file (hardware)": [[28, "plugin-description-file-hardware"]], "CMake library (hardware)": [[28, "cmake-library-hardware"]], "Writing a controller": [[28, "writing-a-controller"]], "Plugin description file (controller)": [[28, "plugin-description-file-controller"]], "CMake library (controller)": [[28, "cmake-library-controller"]], "Launching the example": [[28, "launching-the-example"]], "Example 8: Industrial Robots with an exposed transmission interface": [[29, "example-8-industrial-robots-with-an-exposed-transmission-interface"]], "Example 9: Simulation with RRBot": [[30, "example-9-simulation-with-rrbot"]], "ackermann_steering_controller": [[31, "ackermann-steering-controller"]], "Admittance Controller": [[32, "admittance-controller"]], "ROS 2 interface of the controller": [[32, "ros-2-interface-of-the-controller"], [37, "ros-2-interface-of-the-controller"], [39, "ros-2-interface-of-the-controller"], [47, "ros-2-interface-of-the-controller"], [53, "ros-2-interface-of-the-controller"]], "Topics": [[32, "topics"], [37, "topics"], [39, "topics"], [47, "topics"], [53, "topics"]], "ros2_control interfaces": 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50, 53], "stabl": 1, "against": 1, "accept": [1, 15, 24, 36, 37, 43, 44, 45, 47, 53], "api": [1, 3, 5, 6, 15, 19, 22, 23, 24, 25, 26, 27, 29], "abi": 1, "chang": [1, 2, 4, 7, 10, 12, 15, 16, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 36, 43, 44, 45], "e": [1, 2, 3, 4, 6, 7, 9, 10, 13, 14, 15, 17, 19, 20, 21, 22, 24, 25, 26, 27, 28, 29, 30, 32, 36, 37, 38, 42, 43, 44, 46, 47, 50, 53, 56], "name": [1, 2, 3, 4, 5, 7, 10, 13, 14, 15, 16, 17, 19, 21, 22, 23, 25, 26, 27, 28, 30, 32, 36, 38, 39, 41, 42, 43, 46, 48, 50], "convent": [1, 28], "master": [1, 4, 17, 28], "semi": 1, "binari": 1, "good": [1, 3, 5, 6], "same": [1, 8, 9, 24, 28, 35, 38, 43, 44, 45, 46], "build": [1, 8, 15, 28, 32, 36], "dai": 1, "ros_distro": [1, 4, 17, 19], "foxi": [1, 7, 15], "galact": [1, 12, 15], "releas": [1, 4, 7, 17, 28], "version": [1, 6, 8, 17, 45], "non": [1, 7, 21, 28, 38, 55], "brake": 1, "distribut": [1, 17, 56], "three": [1, 2, 4, 12, 13, 17, 28, 36, 44, 52], "stage": [1, 9, 21], "current": [1, 6, 12, 13, 15, 16, 44, 45, 50], "futur": [1, 7, 9, 44, 45], "compat": [1, 2, 7, 15, 17], "packag": [1, 2, 3, 5, 12, 15, 28, 31, 32, 33, 34, 36, 37, 38, 41, 45, 46, 47, 48, 50, 52, 53, 56], "direct": [1, 2, 6, 15, 28, 36, 43], "local": [1, 3, 5, 8, 18, 19, 21, 22, 23, 24, 25, 26, 27, 29, 30, 42], "possibl": [1, 4, 6, 10, 13, 17, 19, 22, 23, 24, 25, 26, 27, 29, 32, 36, 44], "core": [1, 11, 28], "immedi": [1, 10, 19, 21, 22, 24, 25, 26, 27, 28, 29, 30, 46], "depend": [1, 4, 8, 12, 13, 15, 17, 18, 19, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 35, 36, 44, 46, 50], "fail": [1, 24, 28], "expect": [1, 6, 7, 8, 21, 28, 31, 33, 45, 50, 52], "after": [1, 9, 10, 15, 17, 19, 28, 34, 36, 43, 44, 45, 50, 51], "next": [1, 19, 28, 44], "sync": 1, "abl": 1, "potenti": [1, 7, 8, 36, 43], "mid": 1, "stat": 1, "power": [1, 3, 5, 7, 15], "plausibl": 1, "analyt": 1, "robothw": 2, "rigid": 2, "ani": [2, 4, 7, 9, 10, 12, 13, 17, 21, 28, 36, 43, 45], "imposs": 2, "extend": [2, 4, 6, 9, 15, 36], "exist": [2, 4, 6, 7, 8, 9, 10, 12, 13, 15, 19, 22, 23, 24, 25, 26, 27, 28, 29, 36, 45], "addit": [2, 3, 5, 9, 17, 20, 23, 28], "sensor": [2, 4, 6, 12, 14, 15, 17, 22, 27, 28, 32, 35, 55], "actuat": [2, 4, 6, 12, 13, 14, 15, 17, 21], "tool": [2, 3, 5, 6, 7, 8, 28], "without": [2, 3, 4, 5, 7, 10, 14, 15, 17, 21, 30, 36, 43, 44], "combinedrobothardwar": 2, "drawback": [2, 56], "solut": [2, 7, 8], "optim": [2, 10], "combin": [2, 9, 13, 14, 17, 24, 42, 43, 44, 45, 46], "extern": [2, 4, 6, 9, 14, 17, 32, 46], "defin": [2, 3, 5, 6, 10, 14, 15, 17, 28, 32, 36, 38, 41, 42, 43, 44, 45, 46, 48, 50], "system": [2, 3, 4, 5, 6, 7, 8, 12, 13, 15, 16, 17, 19, 21, 22, 23, 24, 25, 26, 27, 28, 29, 45, 54, 55, 56], "composit": [2, 7], "basic": [2, 3, 4, 5, 6, 7, 15, 17, 23, 36], "physic": [2, 4, 12, 13, 14], "cell": [2, 38], "surround": 2, "describ": [2, 4, 9, 13, 17, 19, 24, 28, 30, 44], "multi": [2, 4, 6, 7, 8, 17, 24], "gripper": [2, 3, 4, 5, 7, 13, 14, 35], "out": [2, 3, 5, 10, 28, 34], "box": [2, 17, 19, 23, 24, 25, 26, 29, 30], "allow": [2, 3, 4, 5, 17, 28, 40, 43, 44, 45, 49], "joint": [2, 4, 7, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 39, 40, 42, 43, 44, 46, 47, 50, 52, 53, 56], "posit": [2, 3, 4, 5, 7, 10, 13, 16, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 32, 34, 35, 37, 42, 43, 44, 45, 46, 47, 50, 53], "veloc": [2, 3, 4, 5, 7, 9, 17, 22, 23, 24, 28, 32, 33, 34, 35, 40, 41, 42, 43, 44, 45, 46, 47, 50, 53], "effort": [2, 3, 5, 17, 28, 35, 37, 40, 42, 43, 45, 46], "hard": [2, 10], "data": [2, 4, 6, 14, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 35, 42, 44], "approach": [2, 9], "doe": [2, 10, 15, 19, 22, 23, 24, 25, 26, 27, 28, 29, 36, 44, 45], "enforc": [2, 24, 28, 43], "string": [2, 10, 14, 17, 36, 39, 40, 41, 42, 43, 46, 48, 50], "ensur": [2, 7, 10, 28, 44], "constant": [2, 17], "hardware_interfac": [2, 3, 4, 5, 12, 14, 15, 17, 22, 25, 26, 27, 28, 32, 34, 35, 36], "In": [2, 3, 4, 5, 6, 7, 9, 15, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 35, 36, 42, 44, 50], "had": 2, "itself": [2, 9], "took": 2, "care": [2, 6, 10, 15, 24, 36, 45], "regist": [2, 3, 5], "resourc": [2, 3, 5, 15, 24], "conflict": [2, 4, 6], "resourcemanag": [2, 9], "take": [2, 6, 9, 15, 21, 24, 34, 36, 42, 44], "state": [2, 3, 4, 5, 6, 7, 9, 10, 12, 13, 14, 15, 16, 17, 19, 20, 21, 23, 24, 25, 26, 27, 28, 29, 30, 35, 36, 38, 42, 43], "avail": [2, 4, 7, 9, 16, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 36, 42, 45], "enabl": [2, 4, 6, 7, 12, 15, 16, 17, 23, 32, 38, 46, 50], "anymor": 2, "controllermanag": [2, 10], "implement": [2, 3, 4, 5, 6, 7, 10, 13, 14, 15, 17, 19, 21, 22, 23, 24, 25, 26, 27, 28, 29, 31, 32, 33, 34, 36, 39, 44, 45, 46, 50, 51, 52, 56], "systeminterfac": [2, 3, 5, 14, 25, 28], "granular": 2, "sensorinterfac": [2, 22, 26], "actuatorinterfac": [2, 22, 27], "abov": [2, 19, 20, 21, 22, 23, 24, 25, 26, 27, 29, 30, 35, 44], "choos": [2, 17, 50], "suitabl": [2, 7], "strategi": [2, 17, 44], "decid": 2, "which": [2, 3, 4, 5, 6, 7, 8, 10, 15, 16, 17, 19, 23, 24, 25, 26, 27, 28, 29, 30, 34, 35, 36, 38, 41, 42, 43, 44, 45, 48, 50, 51], "case": [2, 3, 5, 6, 7, 9, 17, 21, 28, 36, 42, 44, 45, 56], "mayb": [2, 9], "sens": [2, 4, 35, 38], "multipl": [2, 4, 7, 9, 13, 15, 17, 42, 43], "constructor": [2, 15, 28, 36], "initi": [2, 15, 28, 36, 44], "variabl": [2, 15, 28, 36, 43], "need": [2, 3, 4, 5, 6, 7, 9, 13, 15, 17, 19, 22, 23, 24, 25, 26, 27, 28, 29, 35, 36, 44, 46], "commun": [2, 4, 6, 7, 15, 17, 19, 22, 23, 24, 25, 26, 28, 29, 55], "default": [2, 4, 9, 10, 14, 24, 31, 33, 39, 40, 41, 42, 43, 44, 45, 46, 48, 50, 52], "configur": [2, 3, 4, 5, 6, 7, 9, 10, 12, 14, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 36, 42, 43, 44, 45, 50], "paramet": [2, 3, 5, 7, 8, 15, 17, 19, 23, 28, 36, 45], "pars": [2, 3, 5, 10, 11, 13], "urdf": [2, 7, 10, 13, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 29, 30], "snippet": 2, "hardwareinfo": [2, 28], "here": [2, 11, 15, 28, 36, 37, 45, 47, 53], "cross": [2, 42], "valu": [2, 4, 6, 13, 14, 15, 17, 19, 20, 21, 23, 25, 26, 28, 30, 36, 41, 42, 43, 45, 48, 50], "export_": 2, "_interfac": [2, 15], "joint_a2": 2, "extract": [2, 34, 51], "sensibl": 2, "stop": [2, 7, 9, 10, 12, 16, 19, 23, 24, 28, 34, 43, 51], "usual": [2, 4, 10, 14, 15, 28, 36], "includ": [2, 3, 5, 6, 8, 10, 12, 15, 16, 28, 36, 45, 55], "command": [2, 3, 4, 5, 6, 7, 8, 10, 11, 13, 14, 15, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 33, 34, 35, 36, 37, 39, 40, 43, 44, 47, 49, 52, 53, 56], "safe": [2, 28, 34, 36, 45, 51], "interrupt": [2, 10], "stream": [2, 7], "write": [2, 4, 7, 9, 10, 11, 21, 22, 23, 27, 35, 46], "exchang": [2, 6, 19, 22, 23, 24, 25, 26, 27, 29, 56], "equival": [2, 28], "forget": [2, 4, 17, 45], "pluginlib_export_class": [2, 15, 17, 28, 36], "macro": [2, 4, 15, 17, 28, 36], "end": [2, 4, 12, 15, 28, 36, 43, 55], "cpp": [2, 15, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 36], "file": [2, 3, 4, 5, 6, 7, 10, 14, 15, 17, 32, 34, 36, 37, 45, 47, 53], "creat": [2, 3, 4, 5, 7, 10, 14, 15, 17, 28, 36], "xml": [2, 3, 5, 12, 15, 28, 36], "librari": [2, 4, 15, 16, 17, 31, 33, 35, 36, 46, 50, 52], "pluginlib": [2, 3, 4, 5, 10, 15, 28, 36, 46], "exampl": [2, 3, 4, 5, 6, 7, 9, 10, 14, 16, 23, 32, 37, 38, 42, 45, 46, 47, 53, 56], "rrbotsystempositiononlyhardwar": [2, 4, 13, 16, 19, 21, 26], "excel": 2, "jointtrajectorycontrol": [2, 3, 5, 16, 19, 32, 45], "real": [2, 6, 7, 10, 14, 23, 36, 42, 43, 56], "critic": [2, 6], "mark": [2, 21], "controllerinterfac": [2, 4, 9, 16, 28, 36], "member": [2, 15, 28, 36, 44], "init": 2, "call": [2, 3, 4, 5, 9, 15, 23, 28, 36], "lifecycl": [2, 4, 7, 10, 12, 15, 28, 35], "declar": [2, 15, 28, 36], "state_interface_configur": [2, 28, 36], "command_interface_configur": [2, 28, 36], "design": [2, 4, 6, 7, 9, 28, 56], "updat": [2, 4, 9, 10, 17, 28, 35, 36, 45, 50], "manag": [2, 3, 5, 6, 7, 11, 12, 15, 16, 17, 28, 36, 45, 56], "option": [2, 3, 5, 10, 12, 14, 15, 16, 19, 24, 35, 36, 38, 42, 45, 46, 50], "on_configur": [2, 15, 28, 36], "on_activ": [2, 12, 15, 28, 36], "on_deactiv": [2, 12, 15, 28, 36], "deactiv": [2, 4, 16, 19, 43], "final": [2, 7, 12, 28], "joint_trajectory_plugin": 2, "integr": [3, 4, 5, 6, 7, 14, 17, 21, 23, 28, 43, 44, 45, 56], "architectur": [3, 5, 6, 7, 8], "gazebo": [3, 5, 6, 17, 19, 30, 54], "classic": [3, 17, 30, 54], "provid": [3, 4, 5, 6, 7, 9, 10, 13, 14, 15, 17, 19, 21, 24, 25, 26, 27, 28, 29, 30, 32, 36, 42, 43, 44, 45, 50, 56], "instanti": [3, 5, 10], "connect": [3, 4, 5, 14, 17, 25, 28], "model": [3, 5, 19, 28], "cd": [3, 4, 5, 8, 17, 28], "docker": [3, 5, 8, 18, 19, 21, 22, 23, 24, 25, 26, 27, 29, 30], "gui": [3, 5, 17, 19, 21, 22, 24, 25, 26, 27, 29, 30, 49], "properli": [3, 5, 9, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30], "rm": [3, 4, 5, 17, 19, 30], "net": [3, 5, 7, 17, 19, 30], "host": [3, 5, 17, 19, 30, 55], "ros2": [3, 4, 5, 7, 10, 15, 16, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 36], "launch": [3, 4, 5, 10, 14, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 29, 30], "cart_example_posit": [3, 5], "py": [3, 5, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30], "fals": [3, 5, 14, 17, 19, 30, 34, 40, 42, 43, 45, 46, 50], "machin": [3, 4, 5, 6, 17, 30], "client": [3, 5, 30, 45], "gzclient": [3, 30], "rocker": [3, 5], "go": [3, 5, 7, 10, 15, 28, 36], "imag": [3, 5, 10, 30], "inject": [3, 5, 7, 8], "nvidia": [3, 5], "And": 3, "user": [3, 5, 6, 10, 17, 28, 44], "id": [3, 5, 16, 19, 22, 23, 24, 25, 26, 27, 29], "specif": [3, 5, 6, 9, 10, 12, 13, 28, 30, 39, 42, 44, 45], "cleaner": [3, 5], "mount": [3, 5], "permiss": [3, 5, 10], "instal": [3, 5, 8, 10, 15, 18, 19, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 36], "instruct": [3, 5, 8, 23, 28, 30], "x11": [3, 5], "latest": [3, 4, 5, 8], "move": [3, 5, 17, 19, 21, 22, 23, 24, 25, 26, 27, 29, 30, 40], "cart": [3, 5], "rail": [3, 5], "exec": [3, 5, 19], "bash": [3, 4, 5, 8, 15, 17, 19, 28, 36], "home": [3, 5], "ros2_w": [3, 4, 5, 17], "example_posit": [3, 5], "element": [3, 5, 28], "access": [3, 4, 5, 7, 10, 14, 19, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 36, 42], "interfac": [3, 5, 6, 7, 9, 10, 11, 12, 14, 15, 17, 19, 21, 22, 23, 25, 26, 27, 30, 31, 33, 35, 36, 38, 41, 43, 44, 48, 52, 54, 55, 56], "gazebosystem": 3, "hardwar": [3, 5, 7, 8, 9, 11, 14, 16, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 29, 30, 34, 35, 36, 43, 46, 51, 56], "slider_to_cart": [3, 5, 37, 47, 53], "command_interfac": [3, 4, 5, 13, 21, 28, 32, 43, 45, 46], "param": [3, 4, 5, 10, 13, 14, 23, 28], "min": [3, 4, 5, 13, 28], "1000": [3, 5, 28], "max": [3, 4, 5, 13, 28, 40], "state_interfac": [3, 4, 5, 13, 28, 32, 43, 45], "initial_valu": [3, 5, 28], "mimick": [3, 5, 14], "manual": [3, 4, 5, 6, 10, 15, 17, 19, 24, 25, 26, 27, 29, 30, 36, 56], "multipli": [3, 5, 14], "definit": [3, 4, 5, 10, 15, 28, 32, 34, 35, 36, 38, 43], "left_finger_joint": [3, 5], "prismat": [3, 5], "right_finger_joint": [3, 5], "axi": [3, 5, 6, 28, 31, 33, 34, 38, 52], "xyz": [3, 5, 28], "rpy": [3, 5, 28], "1415926535": [3, 5], "parent": [3, 5, 15, 28, 36], "base": [3, 4, 5, 7, 12, 15, 16, 17, 22, 23, 27, 28, 34, 36, 39, 50, 51, 54], "child": [3, 5, 13, 28], "finger_left": [3, 5], "lower": [3, 5, 28], "upper": [3, 5, 28], "actual": [3, 5, 9], "load": [3, 4, 5, 10, 15, 16, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 35, 36], "appropri": [3, 5, 6, 44], "By": [3, 5, 10, 28, 42, 44], "though": [3, 5, 10, 21], "extens": [3, 5], "via": [3, 4, 5, 17, 19, 25, 26, 28, 30, 45], "between": [3, 4, 5, 6, 12, 13, 17, 28, 31, 33, 42, 43, 44, 45, 46, 52], "filenam": [3, 5, 28], "libgazebo_ros2_control": 3, "so": [3, 4, 5, 9, 10, 15, 28, 32, 36, 45], "robot_param": [3, 5], "robot_descript": [3, 5, 10, 19, 28], "robot_param_nod": [3, 5], "robot_state_publish": [3, 5, 42], "config": [3, 5, 17], "cart_control": 3, "yaml": [3, 4, 5, 6, 8, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 45], "locat": [3, 8, 28, 32], "server": [3, 40, 45], "node": [3, 4, 5, 10, 12, 14, 16, 19, 22, 23, 24, 25, 26, 27, 28, 29, 30, 36], "hold_joint": 3, "true": [3, 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"Restarting hardware": [[10, "restarting-hardware"]], "ros2_control": [[11, "ros2-control"]], "API Documentation": [[11, "api-documentation"]], "Features": [[11, "features"]], "Guidelines and Best Practices": [[12, "guidelines-and-best-practices"], [35, "guidelines-and-best-practices"]], "Handling of errors that happen during read() and write() calls": [[12, "handling-of-errors-that-happen-during-read-and-write-calls"]], "Migration from Foxy to newer versions": [[12, "migration-from-foxy-to-newer-versions"]], "ros2_control hardware interface types": [[13, "ros2-control-hardware-interface-types"]], "Joints": [[13, "joints"]], "Sensors": [[13, "sensors"]], "GPIOs": [[13, "gpios"]], "Examples": [[13, "examples"], [17, "examples"]], "Mock Components": [[14, "mock-components"]], "Generic System": [[14, "generic-system"]], "Per-joint Parameters": [[14, "per-joint-parameters"]], "Writing a Hardware Component": [[15, "writing-a-hardware-component"]], "Useful External References": [[15, "useful-external-references"], [36, "useful-external-references"]], "Command Line Interface": [[16, "command-line-interface"]], "list_controllers": [[16, "list-controllers"]], "list_controller_types": [[16, "list-controller-types"]], "list_hardware_components": [[16, "list-hardware-components"]], "list_hardware_interfaces": [[16, "list-hardware-interfaces"]], "load_controller": [[16, "load-controller"]], "reload_controller_libraries": [[16, "reload-controller-libraries"]], "set_controller_state": [[16, "set-controller-state"]], "switch_controllers": [[16, "switch-controllers"]], "unload_controller": [[16, "unload-controller"]], "view_controller_chains": [[16, "view-controller-chains"]], "Demos": [[17, "demos"]], "What you can find in this repository": [[17, "what-you-can-find-in-this-repository"]], "Goals": [[17, "goals"]], "Examples Overview": [[17, "examples-overview"]], "Local installation": [[17, "local-installation"]], "Build from debian packages": [[17, "build-from-debian-packages"]], "Build from source": [[17, "build-from-source"]], "Using Docker": [[17, "using-docker"]], "To view the robot": [[17, "to-view-the-robot"]], "To run the ros2_control demos": [[17, "to-run-the-ros2-control-demos"]], "Quick Hints": [[17, "quick-hints"]], "Example 1: RRBot": [[19, "example-1-rrbot"]], "Tutorial steps": [[19, "tutorial-steps"], [21, "tutorial-steps"], [22, "tutorial-steps"], [23, "tutorial-steps"], [24, "tutorial-steps"], [25, "tutorial-steps"], [26, "tutorial-steps"], [27, "tutorial-steps"], [29, "tutorial-steps"], [30, "tutorial-steps"]], "Files used for this demos": [[19, "files-used-for-this-demos"], [20, "files-used-for-this-demos"], [21, "files-used-for-this-demos"], [22, "files-used-for-this-demos"], [23, "files-used-for-this-demos"], [24, "files-used-for-this-demos"], [26, "files-used-for-this-demos"], [27, "files-used-for-this-demos"], [29, "files-used-for-this-demos"], [30, "files-used-for-this-demos"]], "Controllers from this demo": [[19, "controllers-from-this-demo"], [20, "controllers-from-this-demo"], [21, "controllers-from-this-demo"], [22, "controllers-from-this-demo"], [23, "controllers-from-this-demo"], [24, "controllers-from-this-demo"], [25, "controllers-from-this-demo"], [26, "controllers-from-this-demo"], [27, "controllers-from-this-demo"], [29, "controllers-from-this-demo"], [30, "controllers-from-this-demo"]], "Example 10: Industrial robot with GPIO interfaces": [[20, "example-10-industrial-robot-with-gpio-interfaces"]], "Example 12: Controller chaining with RRBot": [[21, "example-12-controller-chaining-with-rrbot"]], "Example 14: Modular robot with actuators not providing states": [[22, "example-14-modular-robot-with-actuators-not-providing-states"]], "DiffBot": [[23, "diffbot"]], "Example 3: Robots with multiple interfaces": [[24, "example-3-robots-with-multiple-interfaces"]], "Example 4: Industrial robot with integrated sensor": [[25, "example-4-industrial-robot-with-integrated-sensor"]], "Files used for this demo": [[25, "files-used-for-this-demo"]], "Example 5: Industrial robot with externally connected sensor": [[26, "example-5-industrial-robot-with-externally-connected-sensor"]], "Example 6: Modular Robots with separate communication to each actuator": [[27, "example-6-modular-robots-with-separate-communication-to-each-actuator"]], "Example 7: Full tutorial with a 6DOF robot": [[28, "example-7-full-tutorial-with-a-6dof-robot"]], "ros2_control overview": [[28, "ros2-control-overview"]], "Writing a URDF": [[28, "writing-a-urdf"]], "Geometry": [[28, "geometry"]], "URDF file": [[28, "urdf-file"]], "Writing a hardware interface": [[28, "writing-a-hardware-interface"]], "Plugin description file (hardware)": [[28, "plugin-description-file-hardware"]], "CMake library (hardware)": [[28, "cmake-library-hardware"]], "Writing a controller": [[28, "writing-a-controller"]], "Plugin description file (controller)": [[28, "plugin-description-file-controller"]], "CMake library (controller)": [[28, "cmake-library-controller"]], "Launching the example": [[28, "launching-the-example"]], "Example 8: Industrial Robots with an exposed transmission interface": [[29, "example-8-industrial-robots-with-an-exposed-transmission-interface"]], "Example 9: Simulation with RRBot": [[30, "example-9-simulation-with-rrbot"]], "ackermann_steering_controller": [[31, "ackermann-steering-controller"]], "Admittance Controller": [[32, "admittance-controller"]], "ROS 2 interface of the controller": [[32, "ros-2-interface-of-the-controller"], [37, "ros-2-interface-of-the-controller"], [39, "ros-2-interface-of-the-controller"], [47, "ros-2-interface-of-the-controller"], [53, "ros-2-interface-of-the-controller"]], "Topics": [[32, "topics"], [37, "topics"], [39, "topics"], [47, "topics"], [53, "topics"]], "ros2_control interfaces": [[32, "ros2-control-interfaces"]], "References": [[32, "references"], [34, "references"], [45, "references"]], "States": [[32, "states"], [45, "states"], [46, "states"], [50, "states"]], "Commands": [[32, "commands"], [42, "commands"], [45, "commands"], [46, "commands"], [50, "commands"]], "bicycle_steering_controller": [[33, "bicycle-steering-controller"]], "diff_drive_controller": [[34, "diff-drive-controller"]], "Other features": [[34, "other-features"], [45, "other-features"], [51, "other-features"]], "Description of controller\u2019s interfaces": [[34, "description-of-controller-s-interfaces"], [45, "description-of-controller-s-interfaces"], [46, "description-of-controller-s-interfaces"], [50, "description-of-controller-s-interfaces"]], "Feedback": [[34, "feedback"]], "Output": [[34, "output"]], "ROS 2 Interfaces": [[34, "ros-2-interfaces"]], "Subscribers": [[34, "subscribers"], [46, "subscribers"], [50, "subscribers"]], "Publishers": [[34, "publishers"], [45, "publishers"], [46, "publishers"], [50, "publishers"]], "ros2_controllers": [[35, "ros2-controllers"]], "Controllers for Mobile Robots": [[35, "controllers-for-mobile-robots"]], "Controllers for Manipulators and Other Robots": [[35, "controllers-for-manipulators-and-other-robots"]], "Broadcasters": [[35, "broadcasters"]], "Common Controller Parameters": [[35, "common-controller-parameters"]], "Writing a new controller": [[36, "writing-a-new-controller"]], "effort_controllers": [[37, "effort-controllers"]], "effort_controllers/JointGroupEffortController": [[37, "effort-controllers-jointgroupeffortcontroller"]], "Force Torque Sensor Broadcaster": [[38, "force-torque-sensor-broadcaster"]], "forward_command_controller": [[39, "forward-command-controller"]], "Hardware interface type": [[39, "hardware-interface-type"], [42, "hardware-interface-type"]], "Gripper Action Controller": [[40, "gripper-action-controller"]], "IMU Sensor Broadcaster": [[41, "imu-sensor-broadcaster"]], "joint_state_broadcaster": [[42, "joint-state-broadcaster"]], "Details about parameters": [[43, "details-about-parameters"]], "Trajectory Representation": [[44, "trajectory-representation"]], "Interpolation Method none": [[44, "interpolation-method-none"]], "Interpolation Method spline": [[44, "interpolation-method-spline"]], "Visualized Examples": [[44, "visualized-examples"]], "Trajectory Replacement": [[44, "trajectory-replacement"]], "joint_trajectory_controller": [[45, "joint-trajectory-controller"]], "Hardware interface types": [[45, "hardware-interface-types"]], "Using Joint Trajectory Controller(s)": [[45, "using-joint-trajectory-controller-s"]], "Preemption policy 1": [[45, "preemption-policy"]], "Actions  1": [[45, "actions"]], "Subscriber 1": [[45, "subscriber"]], "Services": [[45, "services"], [46, "services"]], "Further information": [[45, "further-information"]], "PID Controller": [[46, "pid-controller"]], "Execution logic of the controller": [[46, "execution-logic-of-the-controller"], [50, "execution-logic-of-the-controller"]], "Using the controller": [[46, "using-the-controller"]], "References (from a preceding controller)": [[46, "references-from-a-preceding-controller"], [50, "references-from-a-preceding-controller"]], "position_controllers": [[47, "position-controllers"]], "position_controllers/JointGroupPositionController": [[47, "position-controllers-jointgrouppositioncontroller"]], "Range Sensor Broadcaster": [[48, "range-sensor-broadcaster"]], "rqt_joint_trajectory_controller": [[49, "rqt-joint-trajectory-controller"]], "steering_controllers_library": [[50, "steering-controllers-library"]], "tricycle_controller": [[51, "tricycle-controller"]], "Velocity commands": [[51, "velocity-commands"]], "tricycle_steering_controller": [[52, "tricycle-steering-controller"]], "velocity_controllers": [[53, "velocity-controllers"]], "velocity_controllers/JointGroupVelocityController": [[53, "velocity-controllers-jointgroupvelocitycontroller"]], "Simulator Integrations": [[54, "simulator-integrations"]], "Hosted by ros-controls": [[54, "hosted-by-ros-controls"]], "Community": [[54, "community"]], "Supported Robots": [[55, "supported-robots"]], "Welcome to the ros2_control documentation!": [[56, "welcome-to-the-ros2-control-documentation"]], "ros2_control Repositories": [[56, "ros2-control-repositories"]], "Development Organisation and Communication": [[56, "development-organisation-and-communication"]]}, "indexentries": {}})
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