From 8c5b3c448c85b20d190f96520854767f5ae22b78 Mon Sep 17 00:00:00 2001 From: bmagyar Date: Sat, 30 Dec 2023 05:32:20 +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 2023-12-29 at 05:31 GMT

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    Built on 2023-12-30 at 05:31 GMT

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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], "cartpole_control": [3, 5], "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, 53], "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, 53], "These": [3, 5, 16, 27], "inherit": [3, 5, 9, 27], "gazebosysteminterfac": 3, "level": [3, 5, 6, 7, 9, 20, 21, 26, 36, 43, 45, 50], "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, 35, 42, 43, 44], "insid": [3, 5, 13, 16, 18], "publish": [3, 5, 6, 8, 12, 16, 19, 27, 31, 34, 37, 40, 41, 42, 43, 46, 48, 53], "stateinterfac": [3, 5, 27], "topic": [3, 5, 6, 7, 8, 12, 18, 19, 20, 21, 22, 23, 24, 25, 26, 28, 29, 34, 42, 44, 51], "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, 47, 50], "jointstat": [3, 5], "joint_state_control": [3, 5, 15], "ros__paramet": [3, 5, 36, 44, 45, 50], "jointstatecontrol": [3, 5, 15], "action": [3, 5, 8, 42], "cart_pole_control": [3, 5], "follow_joint_trajectori": [3, 5, 44], "followjointtrajectori": [3, 5, 42, 44], "joint_trajectory_control": [3, 5, 6, 15, 18, 34], "write_op_mod": [3, 5], "contain": [3, 16, 17, 18, 20, 21, 22, 23, 24, 25, 26, 27, 28, 31, 36, 42, 43, 45, 47, 50], "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], "humbl": [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, 49], "ros_control": [4, 6, 7, 53], "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, 47, 48], "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, 47, 49], "found": [4, 10, 14, 18, 19, 22, 31, 33, 35, 38, 44, 53], "github": [4, 6, 10, 16, 27, 34, 51, 52, 53], "figur": [4, 43], "cm": [4, 9], "abstract": [4, 7, 11, 27], "side": [4, 6, 7], "entri": [4, 35], "point": [4, 27, 35, 42, 43, 44, 53], "servic": [4, 6, 9, 11, 27], "executor": [4, 9], "custom": [4, 12, 13, 16, 21, 22, 37, 41, 51], "howev": [4, 6, 8, 9, 16, 20, 27], "recommend": [4, 7, 14], "ros2_control_nod": [4, 23, 27], "controller_manag": [4, 5, 6, 9, 15, 23, 35, 36, 44, 45, 50], "assum": [4, 8], "On": [4, 27], "hand": [4, 27, 52], "unload": [4, 9, 15], "match": [4, 16, 43], "report": [4, 6, 41, 53], "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, 49], "loop": [4, 7, 9, 13, 18, 23, 24, 25, 26, 27, 28, 29, 35, 41, 42, 44, 47], "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, 52], "reus": [4, 7, 8], "flexibl": 4, "motor": [4, 8, 52], "encod": [4, 27], "theori": [4, 53], "compar": [4, 6, 7], "refer": [4, 8, 20, 27, 52], "measur": [4, 13, 21, 31, 37, 41, 42, 52], "calcul": [4, 27, 31, 43, 47], "input": [4, 6, 7, 8, 12, 19, 20, 27, 31, 33, 36, 38, 42, 43, 45, 47, 48, 50], "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], "forwardcommandcontrol": [4, 18, 19, 20, 21, 23, 24, 25, 26, 28, 29], "lifecyclenod": 4, "document": [4, 6, 7, 12, 13, 14, 16, 22, 33, 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, 53], "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, 34, 41, 53], "capabl": [4, 6], "realiz": [4, 7, 43, 44], "repres": [4, 11, 27, 33, 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, 47, 50], "transmiss": [4, 16], "humanoid": 4, "logic": 4, "channel": [4, 52], "kuka": 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"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], "cartpole_control": [3, 5], "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, 53], "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, 53], "These": [3, 5, 16, 27], "inherit": [3, 5, 9, 27], "gazebosysteminterfac": 3, "level": [3, 5, 6, 7, 9, 20, 21, 26, 36, 43, 45, 50], "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, 35, 42, 43, 44], "insid": [3, 5, 13, 16, 18], "publish": [3, 5, 6, 8, 12, 16, 19, 27, 31, 34, 37, 40, 41, 42, 43, 46, 48, 53], "stateinterfac": [3, 5, 27], "topic": [3, 5, 6, 7, 8, 12, 18, 19, 20, 21, 22, 23, 24, 25, 26, 28, 29, 34, 42, 44, 51], "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, 47, 50], "jointstat": [3, 5], "joint_state_control": [3, 5, 15], "ros__paramet": [3, 5, 36, 44, 45, 50], "jointstatecontrol": [3, 5, 15], "action": [3, 5, 8, 42], "cart_pole_control": [3, 5], "follow_joint_trajectori": [3, 5, 44], "followjointtrajectori": [3, 5, 42, 44], "joint_trajectory_control": [3, 5, 6, 15, 18, 34], "write_op_mod": [3, 5], "contain": [3, 16, 17, 18, 20, 21, 22, 23, 24, 25, 26, 27, 28, 31, 36, 42, 43, 45, 47, 50], "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], "humbl": [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, 49], "ros_control": [4, 6, 7, 53], "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, 47, 48], "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, 47, 49], "found": [4, 10, 14, 18, 19, 22, 31, 33, 35, 38, 44, 53], "github": [4, 6, 10, 16, 27, 34, 51, 52, 53], "figur": [4, 43], "cm": [4, 9], "abstract": [4, 7, 11, 27], "side": [4, 6, 7], "entri": [4, 35], "point": [4, 27, 35, 42, 43, 44, 53], "servic": [4, 6, 9, 11, 27], "executor": [4, 9], "custom": [4, 12, 13, 16, 21, 22, 37, 41, 51], "howev": [4, 6, 8, 9, 16, 20, 27], "recommend": [4, 7, 14], "ros2_control_nod": [4, 23, 27], "controller_manag": [4, 5, 6, 9, 15, 23, 35, 36, 44, 45, 50], "assum": [4, 8], "On": [4, 27], "hand": [4, 27, 52], "unload": [4, 9, 15], "match": [4, 16, 43], "report": [4, 6, 41, 53], "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, 49], "loop": [4, 7, 9, 13, 18, 23, 24, 25, 26, 27, 28, 29, 35, 41, 42, 44, 47], "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, 52], "reus": [4, 7, 8], "flexibl": 4, "motor": [4, 8, 52], "encod": [4, 27], "theori": [4, 53], "compar": [4, 6, 7], "refer": [4, 8, 20, 27, 52], "measur": [4, 13, 21, 31, 37, 41, 42, 52], "calcul": [4, 27, 31, 43, 47], "input": [4, 6, 7, 8, 12, 19, 20, 27, 31, 33, 36, 38, 42, 43, 45, 47, 48, 50], "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], "forwardcommandcontrol": [4, 18, 19, 20, 21, 23, 24, 25, 26, 28, 29], "lifecyclenod": 4, "document": [4, 6, 7, 12, 13, 14, 16, 22, 33, 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, 53], "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, 34, 41, 53], "capabl": [4, 6], "realiz": [4, 7, 43, 44], "repres": [4, 11, 27, 33, 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, 47, 50], "transmiss": [4, 16], "humanoid": 4, "logic": 4, "channel": [4, 52], "kuka": [4, 18, 23, 24, 25, 52], "rsi": [4, 18, 24, 25, 52], "relat": [4, 6, 7], "forc": [4, 7, 12, 15, 24, 25, 31, 34, 52], "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, 14], "given": [4, 17, 18, 20, 21, 22, 23, 24, 25, 26, 28, 36, 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"tricycle_steering_control": 49, "velocity_control": 50, "jointgroupvelocitycontrol": 50, "host": 51, "welcom": 53, "humbl": 53, "develop": 53, "organis": 53}, "envversion": {"sphinx.domains.c": 3, "sphinx.domains.changeset": 1, "sphinx.domains.citation": 1, "sphinx.domains.cpp": 9, "sphinx.domains.index": 1, "sphinx.domains.javascript": 3, "sphinx.domains.math": 2, "sphinx.domains.python": 4, "sphinx.domains.rst": 2, "sphinx.domains.std": 2, "sphinx.ext.intersphinx": 1, "sphinx.ext.todo": 2, "sphinx": 60}, "alltitles": {"Acknowledgements": [[0, "acknowledgements"]], "Maintainers": [[0, "maintainers"]], "Reviewers\u2019 Stats": [[0, "reviewers-stats"]], "Contributors": [[0, "contributors"]], "Companies and Institutions": [[0, "companies-and-institutions"]], "Contributing": [[1, "contributing"]], "Pull Requests": [[1, "pull-requests"]], "Rules for the repositories and process of merging pull requests": [[1, "rules-for-the-repositories-and-process-of-merging-pull-requests"]], "Writing documentation": [[1, "writing-documentation"]], "Repository structure and CI configuration": [[1, "repository-structure-and-ci-configuration"]], "CI configuration": [[1, "ci-configuration"]], "Documentation Usage": [[1, "documentation-usage"]], "Differences to ros_control (ROS1)": [[2, "differences-to-ros-control-ros1"]], "Hardware Structures - classes": [[2, "hardware-structures-classes"]], "Hardware Interfaces": [[2, "hardware-interfaces"]], "Controller\u2019s Access to Hardware": [[2, "controller-s-access-to-hardware"]], "Migration Guide to ros2_control": [[2, "migration-guide-to-ros2-control"]], "RobotHardware to Components": [[2, "robothardware-to-components"]], "Controller Migration": [[2, "controller-migration"]], "gazebo_ros2_control": [[3, "gazebo-ros2-control"]], "Usage": [[3, "usage"], [5, "usage"]], "Modifying or building your own": [[3, "modifying-or-building-your-own"], [5, "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"], [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 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, 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"topics"], [36, "topics"], [38, "topics"], [45, "topics"], [50, "topics"]], "ros2_control interfaces": [[31, "ros2-control-interfaces"]], "References": [[31, "references"], [33, "references"], [44, "references"]], "States": [[31, "states"], [44, "states"], [47, "states"]], "Commands": [[31, "commands"], [41, "commands"], [44, "commands"], [47, "commands"]], "bicycle_steering_controller": [[32, "bicycle-steering-controller"]], "diff_drive_controller": [[33, "diff-drive-controller"]], "Other features": [[33, "other-features"], [44, "other-features"], [48, "other-features"]], "Description of controller\u2019s interfaces": [[33, "description-of-controller-s-interfaces"], [44, "description-of-controller-s-interfaces"], [47, "description-of-controller-s-interfaces"]], "Feedback": [[33, "feedback"]], "Output": [[33, "output"]], "ROS 2 Interfaces": [[33, "ros-2-interfaces"]], "Subscribers": [[33, "subscribers"], [47, "subscribers"]], "Publishers": [[33, "publishers"], [44, "publishers"], [47, 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    Maintainers
    0.82
    -
    +
    - + @@ -174,15 +174,15 @@

    Maintainers -
    +
    0.57
    -
    +
    @@ -206,7 +206,7 @@

    Maintainers -
    +
    0.88 @@ -219,7 +219,7 @@

    Maintainers
    0.75
    -
    +
    - + @@ -299,15 +299,15 @@

    Maintainers -
    +
    0.31
    -
    +
    @@ -331,7 +331,7 @@

    Maintainers -
    +
    0.87 @@ -344,7 +344,7 @@

    Maintainers -
    +
    0.97
    -
    +
    - + @@ -543,15 +543,15 @@

    Reviewers’ Stats
    - 0.28 + 0.27
    -
    +
    @@ -572,15 +572,15 @@

    Reviewers’ Stats
    - 0.78 + 0.77
    -
    +
    @@ -804,7 +804,7 @@

    Reviewers’ Stats
    @@ -812,7 +812,7 @@

    Reviewers’ Stats -
    +
    @@ -1258,28 +1258,28 @@

    Reviewers’ Stats
    - harderthan + DasRoteSkelett
    - 124 + 149 6
    - 0.05 + 0.04
    -
    +
    - + @@ -1287,28 +1287,28 @@

    Reviewers’ Stats
    - DasRoteSkelett + harderthan
    - 148 + 124 6
    - 0.04 + 0.05
    -
    +
    - + @@ -1355,15 +1355,15 @@

    Reviewers’ Stats
    - 0.50 + 0.42
    -
    +
    @@ -1413,7 +1413,7 @@

    Reviewers’ Stats
    @@ -1421,7 +1421,7 @@

    Reviewers’ Stats -
    +
    @@ -2109,7 +2109,7 @@

    Reviewers’ Stats
    @@ -2117,7 +2117,7 @@

    Reviewers’ Stats -
    +
    @@ -3749,7 +3749,7 @@

    Reviewers’ Stats
    0.97
    -
    +
    - + @@ -3832,7 +3832,7 @@

    Reviewers’ Stats -
    +
    0.80 @@ -3858,15 +3858,15 @@

    Reviewers’ Stats -
    +
    0.26
    -
    +
    @@ -3887,15 +3887,15 @@

    Reviewers’ Stats -
    +
    - 0.74 + 0.71
    -
    +
    @@ -3919,7 +3919,7 @@

    Reviewers’ Stats -
    +
    0.10 @@ -3948,7 +3948,7 @@

    Reviewers’ Stats -
    +
    1.00 @@ -3974,15 +3974,15 @@

    Reviewers’ Stats -
    +
    0.07
    -
    +
    @@ -4006,7 +4006,7 @@

    Reviewers’ Stats -
    +
    0.07 @@ -4032,15 +4032,15 @@

    Reviewers’ Stats -
    +
    - 0.50 + 0.42
    -
    +
    @@ -4064,7 +4064,7 @@

    Reviewers’ Stats -
    +
    1.00 @@ -4093,7 +4093,7 @@

    Reviewers’ Stats -
    +
    0.05 @@ -4122,7 +4122,7 @@

    Reviewers’ Stats -
    +
    1.00 @@ -4151,7 +4151,7 @@

    Reviewers’ Stats -
    +
    0.57 @@ -4180,7 +4180,7 @@

    Reviewers’ Stats -
    +
    1.00 @@ -4209,7 +4209,7 @@

    Reviewers’ Stats -
    +
    1.00 @@ -4225,28 +4225,28 @@

    Reviewers’ Stats
    - livanov93 + DasRoteSkelett
    - 97 + 94 2
    -
    +
    0.02
    -
    +
    - + @@ -4254,28 +4254,28 @@

    Reviewers’ Stats
    - DasRoteSkelett + livanov93
    - 93 + 97 2
    -
    +
    0.02
    -
    +
    - + @@ -4296,7 +4296,7 @@

    Reviewers’ Stats -
    +
    1.00 @@ -4325,7 +4325,7 @@

    Reviewers’ Stats -
    +
    1.00 @@ -4351,15 +4351,15 @@

    Reviewers’ Stats -
    +
    0.02
    -
    +
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    Reviewers’ StatsTrajectory Representation
  1. Trajectory Replacement
  2. joint_trajectory_controller Parameters
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  4. rqt_joint_trajectory_controller
  5. Position Controllers
  6. diff --git a/iron/doc/ros2_controllers/joint_trajectory_controller/doc/parameters.html b/iron/doc/ros2_controllers/joint_trajectory_controller/doc/parameters.html index 7f93cfac147..726a38242b4 100644 --- a/iron/doc/ros2_controllers/joint_trajectory_controller/doc/parameters.html +++ b/iron/doc/ros2_controllers/joint_trajectory_controller/doc/parameters.html @@ -30,7 +30,7 @@ - + @@ -73,6 +73,7 @@
  7. Trajectory Representation
  8. Trajectory Replacement
  9. joint_trajectory_controller Parameters
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  11. rqt_joint_trajectory_controller
  12. @@ -234,7 +235,7 @@

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a/iron/_sources/doc/ros2_controllers/rqt_joint_trajectory_controller/doc/userdoc.rst b/iron/_sources/doc/ros2_controllers/rqt_joint_trajectory_controller/doc/userdoc.rst new file mode 100644 index 00000000000..197a7afb30f --- /dev/null +++ b/iron/_sources/doc/ros2_controllers/rqt_joint_trajectory_controller/doc/userdoc.rst @@ -0,0 +1,12 @@ +:github_url: https://github.com/ros-controls/ros2_controllers/blob/{REPOS_FILE_BRANCH}/rqt_joint_trajectory_controller/doc/userdoc.rst + +.. _rqt_joint_trajectory_controller_userdoc: + +rqt_joint_trajectory_controller +=============================== + +rqt_joint_trajectory_controller is a GUI plugin for rqt that allows to command a joint_trajectory_controller. + +.. image:: rqt_joint_trajectory_controller.png + :width: 400 + :alt: rqt_joint_trajectory_controller diff --git a/iron/doc/acknowledgements/acknowledgements.html b/iron/doc/acknowledgements/acknowledgements.html index 2804a7430ae..1782b563980 100644 --- a/iron/doc/acknowledgements/acknowledgements.html +++ b/iron/doc/acknowledgements/acknowledgements.html @@ -145,18 +145,18 @@

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