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Built on 2024-12-24 at 05:36 GMT

+

Built on 2024-12-24 at 05:57 GMT

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MuiCy@PN?+101I1-w*UYD diff --git a/galactic/.doctrees/index.doctree b/galactic/.doctrees/index.doctree index 877c45125b8182cb604135e3f48b8a0ae2d061a1..b9c95b6b1502dd93a3786afe5c8890474145c85d 100644 GIT binary patch delta 87 zcmX?jpYh;*#tmkShLsr>8RaHrY5GY?#))RBhL)y=7UpSYrfG@hCT0c}$;L(|hADDevelopment Organisation and Communication -

Built on 2024-12-24 at 05:36 GMT

+

Built on 2024-12-24 at 05:57 GMT

diff --git a/galactic/searchindex.js b/galactic/searchindex.js index 58dfd53b68..d6292bdff4 100644 --- a/galactic/searchindex.js +++ b/galactic/searchindex.js @@ -1 +1 @@ -Search.setIndex({"alltitles": {"2021-05 ROSCon Fr 2021": [[5, "roscon-fr-2021"]], "2021-06 ROSDevDay 2021": [[5, "rosdevday-2021"]], "2021-10 ROS World 2021": [[5, "ros-world-2021"]], "2021-10-07 Weekly Robotics Meetup #13": [[5, "weekly-robotics-meetup-13"]], "2022-06 ROSCon Fr 2022": [[5, "roscon-fr-2022"]], "2022-10 ROSCon 2022": [[5, "roscon-2022"]], "2022-12 ROS-Industrial Conference 2022": [[5, "ros-industrial-conference-2022"]], "2023-02 ROS Meetup Munich #5": [[5, "ros-meetup-munich-5"]], "API Documentation": [[7, "api-documentation"]], "Acknowledgements": [[0, "acknowledgements"]], "Add support for hardware semantic components": [[4, "add-support-for-hardware-semantic-components"]], "Architecture": [[3, "architecture"]], "Asynchronous Control Components": [[4, "asynchronous-control-components"]], "Available 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d8820963a21d9dad19fa73d64e44811a9fa92f7b..c1b425028320384ffb3ded6ed1ce5fb091f7a1de 100644 GIT binary patch delta 82 zcmeCV$Jld^af2D7VP%FzM!88@ntp0hlDS!;xtUQ?VxmE!rG=%5siB3jL5d+zD8<;! lGBq{P(#$X|b#pr7l~6|0$u{A?m`u$le+*aH91*ca3;VQKE@a miiMGpg?W;xvE}A;#w($W#*=Nre=!-GPyQILusI@Pix>b<3>wA& diff --git a/humble/index.html b/humble/index.html index 3e1f1aa7c2..e2201b6b65 100644 --- a/humble/index.html +++ b/humble/index.html @@ -149,7 +149,7 @@

Development Organisation and Communication -

Built on 2024-12-24 at 05:37 GMT

+

Built on 2024-12-24 at 05:57 GMT

diff --git a/humble/searchindex.js b/humble/searchindex.js index 5eaf1d988a..de1c906156 100644 --- a/humble/searchindex.js +++ b/humble/searchindex.js @@ -1 +1 @@ -Search.setIndex({"alltitles": {"2021-05 ROSCon Fr 2021": [[10, "roscon-fr-2021"]], "2021-06 ROSDevDay 2021": [[10, "rosdevday-2021"]], "2021-10 ROS World 2021": [[10, "ros-world-2021"]], "2021-10-07 Weekly Robotics Meetup #13": [[10, "weekly-robotics-meetup-13"]], "2022-06 ROSCon Fr 2022": [[10, "roscon-fr-2022"]], "2022-10 ROSCon 2022": [[10, "roscon-2022"]], "2022-12 ROS-Industrial Conference 2022": [[10, "ros-industrial-conference-2022"]], "2023-02 ROS Meetup Munich #5": [[10, "ros-meetup-munich-5"]], "2023-09-19 ROSCon Spain Talk: Introduction to ros2_control": [[10, "roscon-spain-talk-introduction-to-ros2-control"]], "A Controller Base-Class: ChainableController": [[11, "a-controller-base-class-chainablecontroller"]], "API Documentation": [[1, "api-documentation"], [14, "api-documentation"]], "Ackermann Steering": [[47, "ackermann-steering"]], "Ackermann Steering with Traction": [[47, "ackermann-steering-with-traction"]], "Acknowledgements": [[0, "acknowledgements"]], "Actions 1": [[59, "actions"]], "Activation and Deactivation Chained Controllers": [[11, "activation-and-deactivation-chained-controllers"]], "Add ros2_control tag to a URDF": [[3, "add-ros2-control-tag-to-a-urdf"], [5, "add-ros2-control-tag-to-a-urdf"]], "Add support for hardware semantic components": [[8, "add-support-for-hardware-semantic-components"]], "Add the gazebo_ros2_control plugin": [[3, "add-the-gazebo-ros2-control-plugin"]], "Add the ign_ros2_control plugin": [[5, "add-the-ign-ros2-control-plugin"]], "Additional notes": [[13, "additional-notes"]], "Admittance Controller": [[42, "admittance-controller"]], "Advanced: custom gazebo_ros2_control Simulation Plugins": [[3, "advanced-custom-gazebo-ros2-control-simulation-plugins"]], "Advanced: custom ign_ros2_control Simulation Plugins": [[5, "advanced-custom-ign-ros2-control-simulation-plugins"]], "An example parameter file": [[54, "an-example-parameter-file"], [55, "an-example-parameter-file"], [56, "an-example-parameter-file"], [57, "an-example-parameter-file"], [60, "an-example-parameter-file"], [61, "an-example-parameter-file"], [63, "an-example-parameter-file"]], "Architecture": [[4, "architecture"]], "Available controllers": [[30, "available-controllers"]], "Between different ROS 2 distributions": [[7, "between-different-ros-2-distributions"]], "Binary packages": [[4, "binary-packages"]], "Broadcasters": [[45, "broadcasters"]], "Build from debian packages": [[24, "build-from-debian-packages"]], "Build from source": [[24, "build-from-source"]], "Building from Source": [[4, "building-from-source"]], "By counting loops": [[17, "by-counting-loops"]], "By measuring elapsed time": [[17, "by-measuring-elapsed-time"]], "CI configuration": [[2, "ci-configuration"]], "CMake library (controller)": [[38, "cmake-library-controller"]], "CMake library (hardware)": [[38, "cmake-library-hardware"]], "Car-Like (Bicycle) Model": [[47, "car-like-bicycle-model"]], "CarlikeBot": [[28, "carlikebot"]], "Cart on rail": [[3, "cart-on-rail"], [5, "cart-on-rail"]], "Caveats on hardware lifecycling": [[30, "caveats-on-hardware-lifecycling"]], "Closing remarks": [[11, "closing-remarks"]], "Coming from ros_control (ROS 1)": [[7, "coming-from-ros-control-ros-1"]], "Command Line Interface": [[23, "command-line-interface"]], "Command interfaces": [[65, "command-interfaces"]], "Commands": [[42, "commands"], [56, "commands"], [59, "commands"], [60, "commands"]], "Communication protocols": [[70, "communication-protocols"]], "Community": [[69, "community"]], "Companies and Institutions": [[0, "companies-and-institutions"]], "Component Parameters": [[21, "component-parameters"]], "Concepts": [[12, "concepts"], [14, "concepts"]], "Contributing": [[2, "contributing"]], "Contributors": [[0, "contributors"]], "Controller Chaining / Cascade Control": [[11, "controller-chaining-cascade-control"]], "Controller Manager": [[4, "controller-manager"], [12, "controller-manager"]], "Controller Migration": [[6, "controller-migration"]], "Controllers": [[4, "controllers"]], "Controllers for Manipulators and Other Robots": [[45, "controllers-for-manipulators-and-other-robots"]], "Controllers for Wheeled Mobile Robots": [[45, "controllers-for-wheeled-mobile-robots"]], "Controllers from this demo": [[26, "controllers-from-this-demo"], [27, "controllers-from-this-demo"], [28, "controllers-from-this-demo"], [29, "controllers-from-this-demo"], [30, "controllers-from-this-demo"], [31, "controllers-from-this-demo"], [32, "controllers-from-this-demo"], [33, "controllers-from-this-demo"], [34, "controllers-from-this-demo"], [35, "controllers-from-this-demo"], [36, "controllers-from-this-demo"], [37, "controllers-from-this-demo"], [39, "controllers-from-this-demo"], [40, "controllers-from-this-demo"]], "Controller\u2019s Access to Hardware": [[6, "controller-s-access-to-hardware"]], "Currently implemented kinematics": [[65, "currently-implemented-kinematics"]], "Debugging": [[13, "debugging"]], "Debugging outputs": [[11, "debugging-outputs"]], "Default gazebo_ros2_control Behavior": [[3, "default-gazebo-ros2-control-behavior"]], "Default ign_ros2_control Behavior": [[5, "default-ign-ros2-control-behavior"]], "Demos": [[24, "demos"]], "Description of controller\u2019s interfaces": [[44, "description-of-controller-s-interfaces"], [53, "description-of-controller-s-interfaces"], [59, "description-of-controller-s-interfaces"], [60, "description-of-controller-s-interfaces"], [65, "description-of-controller-s-interfaces"]], "Details about parameters": [[57, "details-about-parameters"]], "Determinism": [[12, "determinism"]], "Development Organisation and Communication": [[71, "development-organisation-and-communication"]], "Diagrams": [[10, "diagrams"]], "DiffBot": [[33, "diffbot"]], "Differences to ros_control (ROS 1)": [[6, "differences-to-ros-control-ros-1"]], "Different update rates for Hardware Components": [[17, "different-update-rates-for-hardware-components"]], "Differential Drive Robot": [[47, "differential-drive-robot"]], "Documentation Usage": [[2, "documentation-usage"]], "Double-Traction Axle": [[47, "double-traction-axle"]], "End-effectors": [[70, "end-effectors"]], "Example 10: Industrial robot with GPIO interfaces": [[27, "example-10-industrial-robot-with-gpio-interfaces"]], "Example 12: Controller chaining with RRBot": [[29, "example-12-controller-chaining-with-rrbot"]], "Example 13: Multi-robot system with lifecycle management": [[30, "example-13-multi-robot-system-with-lifecycle-management"]], "Example 14: Modular robot with actuators not providing states": [[31, "example-14-modular-robot-with-actuators-not-providing-states"]], "Example 15: Using multiple controller managers": [[32, "example-15-using-multiple-controller-managers"]], "Example 1: RRBot": [[26, "example-1-rrbot"]], "Example 3: Robots with multiple interfaces": [[34, "example-3-robots-with-multiple-interfaces"]], "Example 4: Industrial robot with integrated sensor": [[35, "example-4-industrial-robot-with-integrated-sensor"]], "Example 5: Industrial robot with externally connected sensor": [[36, "example-5-industrial-robot-with-externally-connected-sensor"]], "Example 6: Modular Robots with separate communication to each actuator": [[37, "example-6-modular-robots-with-separate-communication-to-each-actuator"]], "Example 7: Full tutorial with a 6DOF robot": [[38, "example-7-full-tutorial-with-a-6dof-robot"]], "Example 8: Industrial Robots with an exposed transmission interface": [[39, "example-8-industrial-robots-with-an-exposed-transmission-interface"]], "Example 9: Simulation with RRBot": [[40, "example-9-simulation-with-rrbot"]], "Examples": [[19, "examples"], [24, "examples"]], "Examples Overview": [[24, "examples-overview"]], "Execution logic of the controller": [[60, "execution-logic-of-the-controller"], [65, "execution-logic-of-the-controller"]], "Feature-parity for controllers from ROS1": [[8, "feature-parity-for-controllers-from-ros1"]], "Feedback": [[44, "feedback"]], "Files used for this demo": [[35, "files-used-for-this-demo"]], "Files used for this demos": [[26, "files-used-for-this-demos"], [27, "files-used-for-this-demos"], [28, "files-used-for-this-demos"], [29, "files-used-for-this-demos"], [30, "files-used-for-this-demos"], [31, "files-used-for-this-demos"], [33, "files-used-for-this-demos"], [34, "files-used-for-this-demos"], [36, "files-used-for-this-demos"], [37, "files-used-for-this-demos"], [39, "files-used-for-this-demos"], [40, "files-used-for-this-demos"]], "Force Torque Sensor Broadcaster": [[51, "force-torque-sensor-broadcaster"]], "Further information": [[59, "further-information"]], "GPIOs": [[19, "gpios"]], "Generic System": [[21, "generic-system"]], "Geometry": [[38, "geometry"]], "Getting Started": [[4, "getting-started"]], "Goals": [[24, "goals"]], "Gripper": [[3, "gripper"], [5, "gripper"]], "Gripper Action Controller": [[54, "gripper-action-controller"]], "Guidelines and Best Practices": [[14, "guidelines-and-best-practices"], [18, "guidelines-and-best-practices"], [45, "guidelines-and-best-practices"]], "Handling of errors that happen during read() and write() calls": [[18, "handling-of-errors-that-happen-during-read-and-write-calls"]], "Hardware Components": [[4, "hardware-components"], [18, "hardware-components"]], "Hardware Description in URDF": [[4, "hardware-description-in-urdf"]], "Hardware Interfaces": [[6, "hardware-interfaces"]], "Hardware Structures - classes": [[6, "hardware-structures-classes"]], "Hardware and interfaces": [[30, "hardware-and-interfaces"]], "Hardware interface type": [[52, "hardware-interface-type"], [56, "hardware-interface-type"]], "Hardware interface types": [[59, "hardware-interface-types"]], "Helper scripts": [[12, "helper-scripts"]], "Hosted by ros-controls": [[69, "hosted-by-ros-controls"]], "How-To": [[13, "how-to"]], "IMU Sensor Broadcaster": [[55, "imu-sensor-broadcaster"]], "Images": [[10, "images"]], "Implementation": [[11, "implementation"]], "Inner Resource Management": [[11, "inner-resource-management"]], "Installation": [[4, "installation"], [24, "installation"]], "Interpolation Method none": [[58, "interpolation-method-none"]], "Interpolation Method spline": [[58, "interpolation-method-spline"]], "Joint Kinematics for ros2_control": [[20, "joint-kinematics-for-ros2-control"]], "Joints": [[19, "joints"]], "Launching controller_manager with ros2_control_node": [[12, "launching-controller-manager-with-ros2-control-node"]], "Launching the example": [[38, "launching-the-example"]], "List of parameters": [[54, "list-of-parameters"], [55, "list-of-parameters"], [56, "list-of-parameters"], [57, "list-of-parameters"], [60, "list-of-parameters"], [61, "list-of-parameters"], [63, "list-of-parameters"]], "Local installation": [[24, "local-installation"]], "Maintainers": [[0, "maintainers"]], "Migration Guide to ros2_control": [[6, "migration-guide-to-ros2-control"]], "Migration Guides": [[7, "migration-guides"]], "Migration Guides: Galactic to Humble": [[15, "migration-guides-galactic-to-humble"], [46, "migration-guides-galactic-to-humble"]], "Mission-Control for ros2_control": [[8, "mission-control-for-ros2-control"]], "Mobile robots": [[3, "mobile-robots"], [5, "mobile-robots"]], "Mock Components": [[21, "mock-components"]], "Modifying or building your own": [[3, "modifying-or-building-your-own"], [5, "modifying-or-building-your-own"]], "Motivation, Purpose and Use": [[11, "motivation-purpose-and-use"]], "Nomenclature": [[20, "nomenclature"]], "Non robot-devices": [[70, "non-robot-devices"]], "Nonholonomic Wheeled Mobile Robots": [[47, "nonholonomic-wheeled-mobile-robots"]], "Official (supported by robot manufacturer)": [[70, "official-supported-by-robot-manufacturer"]], "Omnidirectional Wheeled Mobile 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ros2_control", "Mock Components", "Writing a Hardware Component", "Command Line Interface", "Demos", "<no title>", "Example 1: RRBot", "Example 10: Industrial robot with GPIO interfaces", "CarlikeBot", "Example 12: Controller chaining with RRBot", "Example 13: Multi-robot system with lifecycle management", "Example 14: Modular robot with actuators not providing states", "Example 15: Using multiple controller managers", "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 robot", "Example 8: Industrial Robots with an exposed transmission interface", "Example 9: Simulation with RRBot", "ackermann_steering_controller", "Admittance Controller", "bicycle_steering_controller", "diff_drive_controller", "ros2_controllers", "Migration Guides: Galactic to Humble", 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Development Organisation and Communication -

Built on 2024-12-24 at 05:37 GMT

+

Built on 2024-12-24 at 05:57 GMT

diff --git a/iron/searchindex.js b/iron/searchindex.js index 2ec3af169a..b27efbca2b 100644 --- a/iron/searchindex.js +++ b/iron/searchindex.js @@ -1 +1 @@ -Search.setIndex({"alltitles": {"2021-05 ROSCon Fr 2021": [[10, "roscon-fr-2021"]], "2021-06 ROSDevDay 2021": [[10, "rosdevday-2021"]], "2021-10 ROS World 2021": [[10, "ros-world-2021"]], "2021-10-07 Weekly Robotics Meetup #13": [[10, "weekly-robotics-meetup-13"]], "2022-06 ROSCon Fr 2022": [[10, "roscon-fr-2022"]], "2022-10 ROSCon 2022": [[10, "roscon-2022"]], "2022-12 ROS-Industrial Conference 2022": [[10, "ros-industrial-conference-2022"]], "2023-02 ROS Meetup Munich #5": [[10, "ros-meetup-munich-5"]], "2023-09-19 ROSCon Spain Talk: Introduction to ros2_control": [[10, "roscon-spain-talk-introduction-to-ros2-control"]], "A Controller Base-Class: ChainableController": [[11, "a-controller-base-class-chainablecontroller"]], "API Documentation": [[1, "api-documentation"], [14, "api-documentation"]], "Ackermann Steering": [[47, "ackermann-steering"]], "Ackermann Steering with Traction": [[47, "ackermann-steering-with-traction"]], "Acknowledgements": [[0, "acknowledgements"]], "Actions 1": [[58, "actions"]], "Activation and Deactivation Chained Controllers": [[11, "activation-and-deactivation-chained-controllers"]], "Add ros2_control tag to a URDF": [[3, "add-ros2-control-tag-to-a-urdf"], [5, "add-ros2-control-tag-to-a-urdf"]], "Add support for hardware semantic components": [[8, "add-support-for-hardware-semantic-components"]], "Add the gazebo_ros2_control plugin": [[3, "add-the-gazebo-ros2-control-plugin"]], "Add the gz_ros2_control plugin": [[5, "add-the-gz-ros2-control-plugin"]], "Additional notes": [[13, "additional-notes"]], "Admittance Controller": [[42, "admittance-controller"]], "Advanced: custom gazebo_ros2_control Simulation Plugins": [[3, "advanced-custom-gazebo-ros2-control-simulation-plugins"]], "Advanced: custom gz_ros2_control Simulation Plugins": [[5, "advanced-custom-gz-ros2-control-simulation-plugins"]], "An example parameter file": [[53, "an-example-parameter-file"], [54, "an-example-parameter-file"], [55, "an-example-parameter-file"], [56, "an-example-parameter-file"], [59, "an-example-parameter-file"], [60, "an-example-parameter-file"], [62, "an-example-parameter-file"]], "Architecture": [[4, "architecture"]], "Available controllers": [[30, "available-controllers"]], "Between different ROS 2 distributions": [[7, "between-different-ros-2-distributions"]], "Binary packages": [[4, "binary-packages"]], "Broadcasters": [[45, "broadcasters"]], "Build from debian packages": [[24, "build-from-debian-packages"]], "Build from source": [[24, "build-from-source"]], "Building from Source": [[4, "building-from-source"]], "By counting loops": [[17, "by-counting-loops"]], "By measuring elapsed time": [[17, "by-measuring-elapsed-time"]], "CI configuration": [[2, "ci-configuration"]], "CMake library (controller)": [[38, "cmake-library-controller"]], "CMake library (hardware)": [[38, "cmake-library-hardware"]], "Car-Like (Bicycle) Model": [[47, "car-like-bicycle-model"]], "CarlikeBot": [[28, "carlikebot"]], "Cart on rail": [[3, "cart-on-rail"], [5, "cart-on-rail"]], "Caveats on hardware lifecycling": [[30, "caveats-on-hardware-lifecycling"]], "Closing remarks": [[11, "closing-remarks"]], "Coming from ros_control (ROS 1)": [[7, "coming-from-ros-control-ros-1"]], "Command Line Interface": [[23, "command-line-interface"]], "Command interfaces": [[64, "command-interfaces"]], "Commands": [[42, "commands"], [55, "commands"], [58, "commands"], [59, "commands"]], "Common Controller Parameters": [[45, "common-controller-parameters"]], "Communication protocols": [[69, "communication-protocols"]], "Community": [[68, "community"]], "Companies and Institutions": [[0, "companies-and-institutions"]], "Component Parameters": [[21, "component-parameters"]], "Concepts": [[12, "concepts"], [14, "concepts"]], "Contributing": [[2, "contributing"]], "Contributors": [[0, "contributors"]], "Controller Chaining / Cascade Control": [[11, "controller-chaining-cascade-control"]], "Controller Manager": [[4, "controller-manager"], [12, "controller-manager"]], "Controller Migration": [[6, "controller-migration"]], "Controllers": [[4, "controllers"]], "Controllers for Manipulators and Other Robots": [[45, "controllers-for-manipulators-and-other-robots"]], "Controllers for Wheeled Mobile Robots": [[45, "controllers-for-wheeled-mobile-robots"]], "Controllers from this demo": [[26, "controllers-from-this-demo"], [27, "controllers-from-this-demo"], [28, "controllers-from-this-demo"], [29, "controllers-from-this-demo"], [30, "controllers-from-this-demo"], [31, "controllers-from-this-demo"], [32, "controllers-from-this-demo"], [33, "controllers-from-this-demo"], [34, "controllers-from-this-demo"], [35, "controllers-from-this-demo"], [36, "controllers-from-this-demo"], [37, "controllers-from-this-demo"], [39, "controllers-from-this-demo"], [40, "controllers-from-this-demo"]], "Controller\u2019s Access to Hardware": [[6, "controller-s-access-to-hardware"]], "Currently implemented kinematics": [[64, "currently-implemented-kinematics"]], "Debugging": [[13, "debugging"]], "Debugging outputs": [[11, "debugging-outputs"]], "Default gazebo_ros2_control Behavior": [[3, "default-gazebo-ros2-control-behavior"]], "Default gz_ros2_control Behavior": [[5, "default-gz-ros2-control-behavior"]], "Demos": [[24, "demos"]], "Description of controller\u2019s interfaces": [[44, "description-of-controller-s-interfaces"], [58, "description-of-controller-s-interfaces"], [59, "description-of-controller-s-interfaces"], [64, "description-of-controller-s-interfaces"]], "Details about parameters": [[56, "details-about-parameters"]], "Determinism": [[12, "determinism"]], "Development Organisation and Communication": [[70, "development-organisation-and-communication"]], "Diagrams": [[10, "diagrams"]], "DiffBot": [[33, "diffbot"]], "Differences to ros_control (ROS 1)": [[6, "differences-to-ros-control-ros-1"]], "Different update rates for Hardware Components": [[17, "different-update-rates-for-hardware-components"]], "Differential Drive Robot": [[47, "differential-drive-robot"]], "Documentation Usage": [[2, "documentation-usage"]], "Double-Traction Axle": [[47, "double-traction-axle"]], "End-effectors": [[69, "end-effectors"]], "Example 10: Industrial robot with GPIO interfaces": [[27, "example-10-industrial-robot-with-gpio-interfaces"]], "Example 12: Controller chaining with RRBot": [[29, "example-12-controller-chaining-with-rrbot"]], "Example 13: Multi-robot system with lifecycle management": [[30, "example-13-multi-robot-system-with-lifecycle-management"]], "Example 14: Modular robot with actuators not providing states": [[31, "example-14-modular-robot-with-actuators-not-providing-states"]], "Example 15: Using multiple controller managers": [[32, "example-15-using-multiple-controller-managers"]], "Example 1: RRBot": [[26, "example-1-rrbot"]], "Example 3: Robots with multiple interfaces": [[34, "example-3-robots-with-multiple-interfaces"]], "Example 4: Industrial robot with integrated sensor": [[35, "example-4-industrial-robot-with-integrated-sensor"]], "Example 5: Industrial robot with externally connected sensor": [[36, "example-5-industrial-robot-with-externally-connected-sensor"]], "Example 6: Modular Robots with separate communication to each actuator": [[37, "example-6-modular-robots-with-separate-communication-to-each-actuator"]], "Example 7: Full tutorial with a 6DOF robot": [[38, "example-7-full-tutorial-with-a-6dof-robot"]], "Example 8: Industrial Robots with an exposed transmission interface": [[39, "example-8-industrial-robots-with-an-exposed-transmission-interface"]], "Example 9: Simulation with RRBot": [[40, "example-9-simulation-with-rrbot"]], "Examples": [[19, "examples"], [24, "examples"]], "Examples Overview": [[24, "examples-overview"]], "Execution logic of the controller": [[59, "execution-logic-of-the-controller"], [64, "execution-logic-of-the-controller"]], "Feature-parity for controllers from ROS1": [[8, "feature-parity-for-controllers-from-ros1"]], "Feedback": [[44, "feedback"]], "Files used for this demo": [[35, "files-used-for-this-demo"]], "Files used for this demos": [[26, "files-used-for-this-demos"], [27, "files-used-for-this-demos"], [28, "files-used-for-this-demos"], [29, "files-used-for-this-demos"], [30, "files-used-for-this-demos"], [31, "files-used-for-this-demos"], [33, "files-used-for-this-demos"], [34, "files-used-for-this-demos"], [36, "files-used-for-this-demos"], [37, "files-used-for-this-demos"], [39, "files-used-for-this-demos"], [40, "files-used-for-this-demos"]], "Force Torque Sensor Broadcaster": [[51, "force-torque-sensor-broadcaster"]], "Further information": [[58, "further-information"]], "GPIOs": [[19, "gpios"]], "Generic System": [[21, "generic-system"]], "Geometry": [[38, "geometry"]], "Getting Started": [[4, "getting-started"]], "Goals": [[24, "goals"]], "Gripper": [[3, "gripper"], [5, "gripper"]], "Gripper Action Controller": [[53, "gripper-action-controller"]], "Guidelines and Best Practices": [[14, "guidelines-and-best-practices"], [18, "guidelines-and-best-practices"], [45, "guidelines-and-best-practices"]], "Handling of errors that happen during read() and write() calls": [[18, "handling-of-errors-that-happen-during-read-and-write-calls"]], "Hardware Components": [[4, "hardware-components"], [18, "hardware-components"]], "Hardware Description in URDF": [[4, "hardware-description-in-urdf"]], "Hardware Interfaces": [[6, "hardware-interfaces"]], "Hardware Structures - classes": [[6, "hardware-structures-classes"]], "Hardware and interfaces": [[30, "hardware-and-interfaces"]], "Hardware interface type": [[52, "hardware-interface-type"], [55, "hardware-interface-type"]], "Hardware interface types": [[58, "hardware-interface-types"]], "Helper scripts": [[12, "helper-scripts"]], "Hosted by ros-controls": [[68, "hosted-by-ros-controls"]], "How-To": [[13, "how-to"]], "IMU Sensor Broadcaster": [[54, "imu-sensor-broadcaster"]], "Images": [[10, "images"]], "Implementation": [[11, "implementation"]], "Inner Resource Management": [[11, "inner-resource-management"]], "Installation": [[4, "installation"], [24, "installation"]], "Interpolation Method none": [[57, "interpolation-method-none"]], "Interpolation Method spline": [[57, "interpolation-method-spline"]], "Joint Kinematics for ros2_control": [[20, "joint-kinematics-for-ros2-control"]], "Joints": [[19, "joints"]], "Launching the example": [[38, "launching-the-example"]], "List of parameters": [[53, "list-of-parameters"], [54, "list-of-parameters"], [55, "list-of-parameters"], [56, "list-of-parameters"], [59, "list-of-parameters"], [60, "list-of-parameters"], [62, "list-of-parameters"]], "Local installation": [[24, "local-installation"]], "Maintainers": [[0, "maintainers"]], "Migration Guide to ros2_control": [[6, "migration-guide-to-ros2-control"]], "Migration Guides": [[7, "migration-guides"]], "Migration Guides: Humble to Iron": [[15, "migration-guides-humble-to-iron"], [46, "migration-guides-humble-to-iron"]], "Mission-Control for ros2_control": [[8, "mission-control-for-ros2-control"]], "Mobile robots": [[3, "mobile-robots"], [5, "mobile-robots"]], "Mock Components": [[21, "mock-components"]], "Modifying or building your own": [[3, "modifying-or-building-your-own"], [5, "modifying-or-building-your-own"]], "Motivation, Purpose and Use": [[11, "motivation-purpose-and-use"]], "Nomenclature": [[20, "nomenclature"]], "Non robot-devices": [[69, "non-robot-devices"]], "Nonholonomic Wheeled Mobile Robots": [[47, "nonholonomic-wheeled-mobile-robots"]], "Official (supported by robot manufacturer)": [[69, "official-supported-by-robot-manufacturer"]], "Omnidirectional Wheeled Mobile Robots": [[47, "omnidirectional-wheeled-mobile-robots"]], "Other features": [[44, "other-features"], [58, "other-features"], [65, "other-features"]], "Output": [[44, "output"]], "PID Controller": [[59, "pid-controller"]], "PID control joints": [[3, "pid-control-joints"]], "Parameters": [[12, "parameters"], [21, "parameters"], [41, "parameters"], [42, "parameters"], [43, "parameters"], [44, "parameters"], [50, "parameters"], [51, "parameters"], [52, "parameters"], [53, "parameters"], [54, "parameters"], [55, "parameters"], [59, "parameters"], [60, "parameters"], [61, "parameters"], [62, "parameters"], [64, "parameters"], [65, "parameters"], [66, "parameters"], [67, "parameters"]], "Pendulum with passive joints": [[3, "pendulum-with-passive-joints"]], "Pendulum with passive joints (cart-pole)": [[5, "pendulum-with-passive-joints-cart-pole"]], "Per-Package API Documentation": [[1, "per-package-api-documentation"]], "Per-interface Parameters": [[21, "per-interface-parameters"]], "Per-joint Parameters": [[21, "per-joint-parameters"]], "Plugin description file (controller)": [[38, "plugin-description-file-controller"]], "Plugin description file (hardware)": [[38, "plugin-description-file-hardware"]], "Pose Broadcaster": [[60, "pose-broadcaster"]], "Preemption policy 1": [[58, "preemption-policy"]], "Presentations": [[10, "presentations"]], "Project Ideas for GSoC 2024": [[8, "project-ideas-for-gsoc-2024"]], "Publishers": [[44, "publishers"], [58, "publishers"], [59, "publishers"], [64, "publishers"]], "Pull Requests": [[2, "pull-requests"]], "Quick Hints": [[24, "quick-hints"]], "ROS 2 Interfaces": [[44, "ros-2-interfaces"], [65, "ros-2-interfaces"]], "ROS 2 interface of the controller": [[42, "ros-2-interface-of-the-controller"], [50, "ros-2-interface-of-the-controller"], [52, "ros-2-interface-of-the-controller"], [61, "ros-2-interface-of-the-controller"], [67, "ros-2-interface-of-the-controller"]], "Range Sensor Broadcaster": [[62, "range-sensor-broadcaster"]], "References": [[13, "references"], [42, "references"], [44, "references"], [58, "references"]], "References (from a preceding controller)": [[59, "references-from-a-preceding-controller"], [64, "references-from-a-preceding-controller"]], "Release Notes": [[9, "release-notes"]], "Release Notes: Humble to Iron": [[16, "release-notes-humble-to-iron"], [48, "release-notes-humble-to-iron"]], "Repository structure and CI configuration": [[2, "repository-structure-and-ci-configuration"]], "Resource Manager": [[4, "resource-manager"]], "Resources": [[10, "resources"]], "Restarting all controllers": [[12, "restarting-all-controllers"]], "Restarting hardware": [[12, "restarting-hardware"]], "RobotHardware to Components": [[6, "robothardware-to-components"]], "Rules for the repositories and process of merging pull requests": [[2, "rules-for-the-repositories-and-process-of-merging-pull-requests"]], "Running the Framework for Your Robot": [[4, "running-the-framework-for-your-robot"]], "Scenario: Using multiple controller managers on the same machine": [[32, "scenario-using-multiple-controller-managers-on-the-same-machine"]], "Scenario: Using ros2_control within a local namespace": [[32, "scenario-using-ros2-control-within-a-local-namespace"]], "Scope of the Document and Background Knowledge": [[11, "scope-of-the-document-and-background-knowledge"]], "Sensors": [[19, "sensors"]], "Services": [[58, "services"], [59, "services"]], "Set up controllers": [[3, "set-up-controllers"], [5, "set-up-controllers"]], "Simple setup": [[3, "simple-setup"], [5, "simple-setup"]], "Simulating Closed-Loop Kinematic Chains": [[20, "simulating-closed-loop-kinematic-chains"]], "Simulator Integrations": [[68, "simulator-integrations"]], "State interfaces": [[64, "state-interfaces"]], "States": [[42, "states"], [58, "states"], [59, "states"]], "Subscriber 1": [[58, "subscriber"]], "Subscribers": [[44, "subscribers"], [59, "subscribers"], [64, "subscribers"], [65, "subscribers"]], "Supported Robots": [[69, "supported-robots"]], "To run the demo": [[3, 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"unofficial-from-the-community"]], "Usage": [[3, "usage"], [5, "usage"]], "Useful External References": [[22, "useful-external-references"], [49, "useful-external-references"]], "User Interfaces": [[4, "user-interfaces"]], "Using Docker": [[24, "using-docker"]], "Using Joint Trajectory Controller(s)": [[58, "using-joint-trajectory-controller-s"]], "Using PID control joints": [[3, "using-pid-control-joints"]], "Using mimic joints in simulation": [[3, "using-mimic-joints-in-simulation"], [5, "using-mimic-joints-in-simulation"]], "Using the Controller Manager in a Process": [[12, "using-the-controller-manager-in-a-process"]], "Using the controller": [[59, "using-the-controller"]], "Visualized Examples": [[57, "visualized-examples"]], "Welcome to the ros2_control documentation - Iron!": [[70, "welcome-to-the-ros2-control-documentation-iron"]], "What you can find in this repository": [[24, "what-you-can-find-in-this-repository"]], "Wheeled Mobile Robot Kinematics": [[47, "wheeled-mobile-robot-kinematics"]], "Writing a Hardware Component": [[22, "writing-a-hardware-component"]], "Writing a URDF": [[38, "writing-a-urdf"]], "Writing a controller": [[38, "writing-a-controller"]], "Writing a hardware interface": [[38, "writing-a-hardware-interface"]], "Writing a new controller": [[49, "writing-a-new-controller"]], "Writing documentation": [[2, "writing-documentation"]], "ackermann_steering_controller": [[41, "ackermann-steering-controller"]], "bicycle_steering_controller": [[43, "bicycle-steering-controller"]], "control_msgs": [[1, "control-msgs"]], "control_toolbox": [[1, "control-toolbox"]], "controller_interface": [[16, "controller-interface"]], "controller_manager": [[16, "controller-manager"]], "diff_drive_controller": [[44, "diff-drive-controller"], [48, "diff-drive-controller"]], "effort_controllers": [[50, "effort-controllers"]], "effort_controllers/JointGroupEffortController": [[50, "effort-controllers-jointgroupeffortcontroller"]], 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47], "within": 32, "world": 10, "write": [2, 18, 22, 38, 49], "you": 24, "your": [3, 4, 5]}}) \ No newline at end of file +Search.setIndex({"alltitles": {"2021-05 ROSCon Fr 2021": [[10, "roscon-fr-2021"]], "2021-06 ROSDevDay 2021": [[10, "rosdevday-2021"]], "2021-10 ROS World 2021": [[10, "ros-world-2021"]], "2021-10-07 Weekly Robotics Meetup #13": [[10, "weekly-robotics-meetup-13"]], "2022-06 ROSCon Fr 2022": [[10, "roscon-fr-2022"]], "2022-10 ROSCon 2022": [[10, "roscon-2022"]], "2022-12 ROS-Industrial Conference 2022": [[10, "ros-industrial-conference-2022"]], "2023-02 ROS Meetup Munich #5": [[10, "ros-meetup-munich-5"]], "2023-09-19 ROSCon Spain Talk: Introduction to ros2_control": [[10, "roscon-spain-talk-introduction-to-ros2-control"]], "A Controller Base-Class: ChainableController": [[11, "a-controller-base-class-chainablecontroller"]], "API Documentation": [[1, "api-documentation"], [14, "api-documentation"]], "Ackermann Steering": [[47, "ackermann-steering"]], "Ackermann 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file": [[53, "an-example-parameter-file"], [54, "an-example-parameter-file"], [55, "an-example-parameter-file"], [56, "an-example-parameter-file"], [59, "an-example-parameter-file"], [60, "an-example-parameter-file"], [62, "an-example-parameter-file"]], "Architecture": [[4, "architecture"]], "Available controllers": [[30, "available-controllers"]], "Between different ROS 2 distributions": [[7, "between-different-ros-2-distributions"]], "Binary packages": [[4, "binary-packages"]], "Broadcasters": [[45, "broadcasters"]], "Build from debian packages": [[24, "build-from-debian-packages"]], "Build from source": [[24, "build-from-source"]], "Building from Source": [[4, "building-from-source"]], "By counting loops": [[17, "by-counting-loops"]], "By measuring elapsed time": [[17, "by-measuring-elapsed-time"]], "CI configuration": [[2, "ci-configuration"]], "CMake library (controller)": [[38, "cmake-library-controller"]], "CMake library (hardware)": [[38, "cmake-library-hardware"]], "Car-Like (Bicycle) Model": [[47, "car-like-bicycle-model"]], "CarlikeBot": [[28, "carlikebot"]], "Cart on rail": [[3, "cart-on-rail"], [5, "cart-on-rail"]], "Caveats on hardware lifecycling": [[30, "caveats-on-hardware-lifecycling"]], "Closing remarks": [[11, "closing-remarks"]], "Coming from ros_control (ROS 1)": [[7, "coming-from-ros-control-ros-1"]], "Command Line Interface": [[23, "command-line-interface"]], "Command interfaces": [[64, "command-interfaces"]], "Commands": [[42, "commands"], [55, "commands"], [58, "commands"], [59, "commands"]], "Common Controller Parameters": [[45, "common-controller-parameters"]], "Communication protocols": [[69, "communication-protocols"]], "Community": [[68, "community"]], "Companies and Institutions": [[0, "companies-and-institutions"]], "Component Parameters": [[21, "component-parameters"]], "Concepts": [[12, "concepts"], [14, "concepts"]], "Contributing": [[2, "contributing"]], "Contributors": [[0, "contributors"]], "Controller Chaining / Cascade Control": [[11, "controller-chaining-cascade-control"]], "Controller Manager": [[4, "controller-manager"], [12, "controller-manager"]], "Controller Migration": [[6, "controller-migration"]], "Controllers": [[4, "controllers"]], "Controllers for Manipulators and Other Robots": [[45, "controllers-for-manipulators-and-other-robots"]], "Controllers for Wheeled Mobile Robots": [[45, "controllers-for-wheeled-mobile-robots"]], "Controllers from this demo": [[26, "controllers-from-this-demo"], [27, "controllers-from-this-demo"], [28, "controllers-from-this-demo"], [29, "controllers-from-this-demo"], [30, "controllers-from-this-demo"], [31, "controllers-from-this-demo"], [32, "controllers-from-this-demo"], [33, "controllers-from-this-demo"], [34, "controllers-from-this-demo"], [35, "controllers-from-this-demo"], [36, "controllers-from-this-demo"], [37, "controllers-from-this-demo"], [39, "controllers-from-this-demo"], [40, "controllers-from-this-demo"]], "Controller\u2019s Access to Hardware": 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update rates for Hardware Components": [[17, "different-update-rates-for-hardware-components"]], "Differential Drive Robot": [[47, "differential-drive-robot"]], "Documentation Usage": [[2, "documentation-usage"]], "Double-Traction Axle": [[47, "double-traction-axle"]], "End-effectors": [[69, "end-effectors"]], "Example 10: Industrial robot with GPIO interfaces": [[27, "example-10-industrial-robot-with-gpio-interfaces"]], "Example 12: Controller chaining with RRBot": [[29, "example-12-controller-chaining-with-rrbot"]], "Example 13: Multi-robot system with lifecycle management": [[30, "example-13-multi-robot-system-with-lifecycle-management"]], "Example 14: Modular robot with actuators not providing states": [[31, "example-14-modular-robot-with-actuators-not-providing-states"]], "Example 15: Using multiple controller managers": [[32, "example-15-using-multiple-controller-managers"]], "Example 1: RRBot": [[26, "example-1-rrbot"]], "Example 3: Robots with multiple interfaces": [[34, "example-3-robots-with-multiple-interfaces"]], "Example 4: Industrial robot with integrated sensor": [[35, "example-4-industrial-robot-with-integrated-sensor"]], "Example 5: Industrial robot with externally connected sensor": [[36, "example-5-industrial-robot-with-externally-connected-sensor"]], "Example 6: Modular Robots with separate communication to each actuator": [[37, "example-6-modular-robots-with-separate-communication-to-each-actuator"]], "Example 7: Full tutorial with a 6DOF robot": [[38, "example-7-full-tutorial-with-a-6dof-robot"]], "Example 8: Industrial Robots with an exposed transmission interface": [[39, "example-8-industrial-robots-with-an-exposed-transmission-interface"]], "Example 9: Simulation with RRBot": [[40, "example-9-simulation-with-rrbot"]], "Examples": [[19, "examples"], [24, "examples"]], "Examples Overview": [[24, "examples-overview"]], "Execution logic of the controller": [[59, "execution-logic-of-the-controller"], [64, 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"migration-guides"]], "Migration Guides: Humble to Iron": [[15, "migration-guides-humble-to-iron"], [46, "migration-guides-humble-to-iron"]], "Mission-Control for ros2_control": [[8, "mission-control-for-ros2-control"]], "Mobile robots": [[3, "mobile-robots"], [5, "mobile-robots"]], "Mock Components": [[21, "mock-components"]], "Modifying or building your own": [[3, "modifying-or-building-your-own"], [5, "modifying-or-building-your-own"]], "Motivation, Purpose and Use": [[11, "motivation-purpose-and-use"]], "Nomenclature": [[20, "nomenclature"]], "Non robot-devices": [[69, "non-robot-devices"]], "Nonholonomic Wheeled Mobile Robots": [[47, "nonholonomic-wheeled-mobile-robots"]], "Official (supported by robot manufacturer)": [[69, "official-supported-by-robot-manufacturer"]], "Omnidirectional Wheeled Mobile Robots": [[47, "omnidirectional-wheeled-mobile-robots"]], "Other features": [[44, "other-features"], [58, "other-features"], [65, "other-features"]], "Output": [[44, "output"]], "PID Controller": [[59, "pid-controller"]], "PID control joints": [[3, "pid-control-joints"]], "Parameters": [[12, "parameters"], [21, "parameters"], [41, "parameters"], [42, "parameters"], [43, "parameters"], [44, "parameters"], [50, "parameters"], [51, "parameters"], [52, "parameters"], [53, "parameters"], [54, "parameters"], [55, "parameters"], [59, "parameters"], [60, "parameters"], [61, "parameters"], [62, "parameters"], [64, "parameters"], [65, "parameters"], [66, "parameters"], [67, "parameters"]], "Pendulum with passive joints": [[3, "pendulum-with-passive-joints"]], "Pendulum with passive joints (cart-pole)": [[5, "pendulum-with-passive-joints-cart-pole"]], "Per-Package API Documentation": [[1, "per-package-api-documentation"]], "Per-interface Parameters": [[21, "per-interface-parameters"]], "Per-joint Parameters": [[21, "per-joint-parameters"]], "Plugin description file (controller)": [[38, "plugin-description-file-controller"]], "Plugin description file (hardware)": [[38, 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Built on 2024-12-24 at 05:57 GMT

diff --git a/jazzy/searchindex.js b/jazzy/searchindex.js index 4536b66e11..6758c4a68f 100644 --- a/jazzy/searchindex.js +++ b/jazzy/searchindex.js @@ -1 +1 @@ -Search.setIndex({"alltitles": {"2021-05 ROSCon Fr 2021": [[10, "roscon-fr-2021"]], "2021-06 ROSDevDay 2021": [[10, "rosdevday-2021"]], "2021-10 ROS World 2021": [[10, "ros-world-2021"]], "2021-10-07 Weekly Robotics Meetup #13": [[10, "weekly-robotics-meetup-13"]], "2022-06 ROSCon Fr 2022": [[10, "roscon-fr-2022"]], "2022-10 ROSCon 2022": [[10, "roscon-2022"]], "2022-12 ROS-Industrial Conference 2022": [[10, "ros-industrial-conference-2022"]], "2023-02 ROS Meetup Munich #5": [[10, "ros-meetup-munich-5"]], "2023-07-07 ROS Developers Day 2023: Configure a Mobile Manipulator with ros2_control": [[10, "ros-developers-day-2023-configure-a-mobile-manipulator-with-ros2-control"]], "2023-09-19 ROSCon Spain Talk: Introduction to ros2_control": [[10, "roscon-spain-talk-introduction-to-ros2-control"]], "2023-10-18 ROSCon Workshop: ros2_control on Steroids": [[10, "roscon-workshop-ros2-control-on-steroids"]], "A Controller Base-Class: ChainableController": [[12, "a-controller-base-class-chainablecontroller"]], "API Documentation": [[1, "api-documentation"], [15, "api-documentation"]], "Ackermann Steering": [[49, "ackermann-steering"]], "Ackermann Steering with Traction": [[49, "ackermann-steering-with-traction"]], "Acknowledgements": [[0, "acknowledgements"]], "Actions 1": [[61, "actions"]], "Activation and Deactivation Chained Controllers": [[12, "activation-and-deactivation-chained-controllers"]], "Adaption of Command-/StateInterfaces": [[16, "adaption-of-command-stateinterfaces"], [17, "adaption-of-command-stateinterfaces"]], "Add ros2_control tag to a URDF": [[3, "add-ros2-control-tag-to-a-urdf"]], "Add ros2_control tag to a URDF or SDF": [[5, "add-ros2-control-tag-to-a-urdf-or-sdf"]], "Add support for hardware semantic components": [[8, "add-support-for-hardware-semantic-components"]], "Add the gazebo_ros2_control plugin": [[3, "add-the-gazebo-ros2-control-plugin"]], "Add the gz_ros2_control plugin": [[5, "add-the-gz-ros2-control-plugin"]], "Additional notes": [[14, "additional-notes"]], "Admittance Controller": [[44, "admittance-controller"]], "Advanced: custom gazebo_ros2_control Simulation Plugins": [[3, "advanced-custom-gazebo-ros2-control-simulation-plugins"]], "Advanced: custom gz_ros2_control Simulation Plugins": [[5, "advanced-custom-gz-ros2-control-simulation-plugins"]], "An example parameter file": [[56, "an-example-parameter-file"], [57, "an-example-parameter-file"], [58, "an-example-parameter-file"], [59, "an-example-parameter-file"], [64, "an-example-parameter-file"], [65, "an-example-parameter-file"], [67, "an-example-parameter-file"]], "Architecture": [[4, "architecture"]], "Available controllers": [[32, "available-controllers"]], "Before coming to the conference": [[11, "before-coming-to-the-conference"], [73, "before-coming-to-the-conference"]], "Between different ROS 2 distributions": [[7, "between-different-ros-2-distributions"]], "Binary packages": [[4, "binary-packages"]], "Broadcasters": [[47, "broadcasters"]], "Build from debian packages": [[26, "build-from-debian-packages"]], "Build from source": [[26, "build-from-source"]], "Building from Source": [[4, "building-from-source"]], "CI configuration": [[2, "ci-configuration"]], "CMake library (controller)": [[40, "cmake-library-controller"]], "CMake library (hardware)": [[40, "cmake-library-hardware"]], "Car-Like (Bicycle) Model": [[49, "car-like-bicycle-model"]], "CarlikeBot": [[30, "carlikebot"]], "Cart on rail": [[3, "cart-on-rail"], [5, "cart-on-rail"]], "Caveats on hardware lifecycling": [[32, "caveats-on-hardware-lifecycling"]], "Closing remarks": [[12, "closing-remarks"]], "Coming from ros_control (ROS 1)": [[7, "coming-from-ros-control-ros-1"]], "Command Line Interface": [[25, "command-line-interface"]], "Command interfaces": [[69, "command-interfaces"]], "Commands": [[44, "commands"], [58, "commands"], [61, "commands"], [62, "commands"], [64, "commands"]], "Common Controller Parameters": [[47, "common-controller-parameters"]], "Communication protocols": [[75, "communication-protocols"]], "Community": [[74, "community"]], "Companies and Institutions": [[0, "companies-and-institutions"]], "Component Parameters": [[23, "component-parameters"]], "Concepts": [[13, "concepts"], [15, "concepts"]], "Contributing": [[2, "contributing"]], "Contributors": [[0, "contributors"]], "Controller Chaining / Cascade Control": [[12, "controller-chaining-cascade-control"]], "Controller Manager": [[4, "controller-manager"], [13, "controller-manager"]], "Controller Migration": [[6, "controller-migration"]], "Controllers": [[4, "controllers"]], "Controllers for Manipulators and Other Robots": [[47, "controllers-for-manipulators-and-other-robots"]], "Controllers for Wheeled Mobile Robots": [[47, "controllers-for-wheeled-mobile-robots"]], "Controllers from this demo": [[28, "controllers-from-this-demo"], [29, "controllers-from-this-demo"], [30, "controllers-from-this-demo"], [31, "controllers-from-this-demo"], [32, "controllers-from-this-demo"], [33, "controllers-from-this-demo"], [34, "controllers-from-this-demo"], [35, "controllers-from-this-demo"], [36, "controllers-from-this-demo"], [37, "controllers-from-this-demo"], [38, "controllers-from-this-demo"], [39, "controllers-from-this-demo"], [41, "controllers-from-this-demo"], [42, "controllers-from-this-demo"]], "Controller\u2019s Access to Hardware": [[6, "controller-s-access-to-hardware"]], "Currently implemented kinematics": [[69, "currently-implemented-kinematics"]], "Custom export of Command-/StateInterfaces": [[16, "custom-export-of-command-stateinterfaces"]], "Debugging": [[14, "debugging"]], "Debugging outputs": [[12, "debugging-outputs"]], "Default gazebo_ros2_control Behavior": [[3, "default-gazebo-ros2-control-behavior"]], "Default gz_ros2_control Behavior": [[5, 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"double-traction-axle"]], "End-effectors": [[75, "end-effectors"]], "Example 10: Industrial robot with GPIO interfaces": [[29, "example-10-industrial-robot-with-gpio-interfaces"]], "Example 12: Controller chaining with RRBot": [[31, "example-12-controller-chaining-with-rrbot"]], "Example 13: Multi-robot system with lifecycle management": [[32, "example-13-multi-robot-system-with-lifecycle-management"]], "Example 14: Modular robot with actuators not providing states": [[33, "example-14-modular-robot-with-actuators-not-providing-states"]], "Example 15: Using multiple controller managers": [[34, "example-15-using-multiple-controller-managers"]], "Example 1: RRBot": [[28, "example-1-rrbot"]], "Example 3: Robots with multiple interfaces": [[36, "example-3-robots-with-multiple-interfaces"]], "Example 4: Industrial robot with integrated sensor": [[37, "example-4-industrial-robot-with-integrated-sensor"]], "Example 5: Industrial robot with externally connected sensor": [[38, "example-5-industrial-robot-with-externally-connected-sensor"]], "Example 6: Modular Robots with separate communication to each actuator": [[39, "example-6-modular-robots-with-separate-communication-to-each-actuator"]], "Example 7: Full tutorial with a 6DOF robot": [[40, "example-7-full-tutorial-with-a-6dof-robot"]], "Example 8: Industrial Robots with an exposed transmission interface": [[41, "example-8-industrial-robots-with-an-exposed-transmission-interface"]], "Example 9: Simulation with RRBot": [[42, "example-9-simulation-with-rrbot"]], "Examples": [[18, "examples"], [19, "examples"], [21, "examples"], [26, "examples"]], "Examples Overview": [[26, "examples-overview"]], "Execution logic of the controller": [[62, "execution-logic-of-the-controller"], [64, "execution-logic-of-the-controller"], [69, "execution-logic-of-the-controller"]], "Feature-parity for controllers from ROS1": [[8, "feature-parity-for-controllers-from-ros1"]], "Feedback": [[46, "feedback"]], "Files used for this demo": [[37, "files-used-for-this-demo"]], "Files used for this demos": [[28, "files-used-for-this-demos"], [29, "files-used-for-this-demos"], [30, "files-used-for-this-demos"], [31, "files-used-for-this-demos"], [32, "files-used-for-this-demos"], [33, "files-used-for-this-demos"], [35, "files-used-for-this-demos"], [36, "files-used-for-this-demos"], [38, "files-used-for-this-demos"], [39, "files-used-for-this-demos"], [41, "files-used-for-this-demos"], [42, "files-used-for-this-demos"]], "Force Torque Sensor Broadcaster": [[53, "force-torque-sensor-broadcaster"]], "Further information": [[61, "further-information"]], "GPIOs": [[21, "gpios"]], "General": [[17, "general"]], "Generic System": [[23, "generic-system"]], "Geometry": [[40, "geometry"]], "Getting Started": [[4, "getting-started"]], "Goals": [[26, "goals"]], "Gripper": [[3, "gripper"], [5, "gripper"]], "Gripper Action Controller": [[56, "gripper-action-controller"]], "Guidelines and Best Practices": [[15, 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"helper-scripts"]], "Hosted by ros-controls": [[74, "hosted-by-ros-controls"]], "How-To": [[14, "how-to"]], "IMU Sensor Broadcaster": [[57, "imu-sensor-broadcaster"]], "Images": [[10, "images"]], "Implementation": [[12, "implementation"]], "Inner Resource Management": [[12, "inner-resource-management"]], "Installation": [[4, "installation"], [26, "installation"]], "Interpolation Method none": [[60, "interpolation-method-none"]], "Interpolation Method spline": [[60, "interpolation-method-spline"]], "Iron to Jazzy": [[16, "iron-to-jazzy"], [17, "iron-to-jazzy"]], "Joint Kinematics for ros2_control": [[22, "joint-kinematics-for-ros2-control"]], "Joints": [[21, "joints"]], "Launching controller_manager with ros2_control_node": [[13, "launching-controller-manager-with-ros2-control-node"]], "Launching the example": [[40, "launching-the-example"]], "List of parameters": [[56, "list-of-parameters"], [57, "list-of-parameters"], [58, "list-of-parameters"], [59, "list-of-parameters"], [64, "list-of-parameters"], [65, "list-of-parameters"], [67, "list-of-parameters"]], "Local installation": [[26, "local-installation"]], "Maintainers": [[0, "maintainers"]], "Migration Guide to ros2_control": [[6, "migration-guide-to-ros2-control"]], "Migration Guides": [[7, "migration-guides"]], "Migration Guides: Iron to Jazzy": [[48, "migration-guides-iron-to-jazzy"]], "Migration of Command-/StateInterfaces": [[16, "migration-of-command-stateinterfaces"]], "Migration of unlisted Command-/StateInterfaces not defined in ros2_control XML-tag": [[16, "migration-of-unlisted-command-stateinterfaces-not-defined-in-ros2-control-xml-tag"]], "Mission-Control for ros2_control": [[8, "mission-control-for-ros2-control"]], "Mobile robots": [[3, "mobile-robots"], [5, "mobile-robots"]], "Mock Components": [[23, "mock-components"]], "Modifying or building your own": [[3, "modifying-or-building-your-own"], [5, "modifying-or-building-your-own"]], "Motivation, Purpose and Use": [[12, "motivation-purpose-and-use"]], "Multiple Namespaces": [[3, "multiple-namespaces"]], "Nomenclature": [[12, "nomenclature"], [22, "nomenclature"]], "Non robot-devices": [[75, "non-robot-devices"]], "Nonholonomic Wheeled Mobile Robots": [[49, "nonholonomic-wheeled-mobile-robots"]], "Official (supported by robot manufacturer)": [[75, "official-supported-by-robot-manufacturer"]], "Omnidirectional Wheeled Mobile Robots": [[49, "omnidirectional-wheeled-mobile-robots"]], "Other features": [[46, "other-features"], [61, "other-features"], [70, "other-features"]], "Output": [[46, "output"]], "Overview": [[21, "overview"]], "PID Controller": [[64, "pid-controller"]], "PID control joints": [[3, "pid-control-joints"]], "Parallel Gripper Action Controller": [[63, "parallel-gripper-action-controller"]], "Parameters": [[13, "parameters"], [18, "parameters"], [23, "parameters"], [43, "parameters"], [44, "parameters"], [45, "parameters"], [46, "parameters"], [52, "parameters"], [53, "parameters"], [54, 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"activation-and-deactivation-chained-controllers"]], "Adaption of Command-/StateInterfaces": [[16, "adaption-of-command-stateinterfaces"], [17, "adaption-of-command-stateinterfaces"]], "Add ros2_control tag to a URDF": [[3, "add-ros2-control-tag-to-a-urdf"]], "Add ros2_control tag to a URDF or SDF": [[5, "add-ros2-control-tag-to-a-urdf-or-sdf"]], "Add support for hardware semantic components": [[8, "add-support-for-hardware-semantic-components"]], "Add the gazebo_ros2_control plugin": [[3, "add-the-gazebo-ros2-control-plugin"]], "Add the gz_ros2_control plugin": [[5, "add-the-gz-ros2-control-plugin"]], "Additional notes": [[14, "additional-notes"]], "Admittance Controller": [[44, "admittance-controller"]], "Advanced: custom gazebo_ros2_control Simulation Plugins": [[3, "advanced-custom-gazebo-ros2-control-simulation-plugins"]], "Advanced: custom gz_ros2_control Simulation Plugins": [[5, "advanced-custom-gz-ros2-control-simulation-plugins"]], "An example parameter file": [[56, "an-example-parameter-file"], [57, "an-example-parameter-file"], [58, "an-example-parameter-file"], [59, "an-example-parameter-file"], [64, "an-example-parameter-file"], [65, "an-example-parameter-file"], [67, "an-example-parameter-file"]], "Architecture": [[4, "architecture"]], "Available controllers": [[32, "available-controllers"]], "Before coming to the conference": [[11, "before-coming-to-the-conference"], [73, "before-coming-to-the-conference"]], "Between different ROS 2 distributions": [[7, "between-different-ros-2-distributions"]], "Binary packages": [[4, "binary-packages"]], "Broadcasters": [[47, "broadcasters"]], "Build from debian packages": [[26, "build-from-debian-packages"]], "Build from source": [[26, "build-from-source"]], "Building from Source": [[4, "building-from-source"]], "CI configuration": [[2, "ci-configuration"]], "CMake library (controller)": [[40, "cmake-library-controller"]], "CMake library (hardware)": [[40, "cmake-library-hardware"]], "Car-Like (Bicycle) Model": [[49, "car-like-bicycle-model"]], "CarlikeBot": [[30, "carlikebot"]], "Cart on rail": [[3, "cart-on-rail"], [5, "cart-on-rail"]], "Caveats on hardware lifecycling": [[32, "caveats-on-hardware-lifecycling"]], "Closing remarks": [[12, "closing-remarks"]], "Coming from ros_control (ROS 1)": [[7, "coming-from-ros-control-ros-1"]], "Command Line Interface": [[25, "command-line-interface"]], "Command interfaces": [[69, "command-interfaces"]], "Commands": [[44, "commands"], [58, "commands"], [61, "commands"], [62, "commands"], [64, "commands"]], "Common Controller Parameters": [[47, "common-controller-parameters"]], "Communication protocols": [[75, "communication-protocols"]], "Community": [[74, "community"]], "Companies and Institutions": [[0, "companies-and-institutions"]], "Component Parameters": [[23, "component-parameters"]], "Concepts": [[13, "concepts"], [15, "concepts"]], "Contributing": [[2, "contributing"]], "Contributors": [[0, "contributors"]], "Controller Chaining / 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"development-organisation-and-communication"]], "Diagrams": [[10, "diagrams"]], "DiffBot": [[35, "diffbot"]], "Differences to ros_control (ROS 1)": [[6, "differences-to-ros-control-ros-1"]], "Different update rates for Hardware Components": [[19, "different-update-rates-for-hardware-components"]], "Differential Drive Robot": [[49, "differential-drive-robot"]], "Documentation Usage": [[2, "documentation-usage"]], "Double-Traction Axle": [[49, "double-traction-axle"]], "End-effectors": [[75, "end-effectors"]], "Example 10: Industrial robot with GPIO interfaces": [[29, "example-10-industrial-robot-with-gpio-interfaces"]], "Example 12: Controller chaining with RRBot": [[31, "example-12-controller-chaining-with-rrbot"]], "Example 13: Multi-robot system with lifecycle management": [[32, "example-13-multi-robot-system-with-lifecycle-management"]], "Example 14: Modular robot with actuators not providing states": [[33, "example-14-modular-robot-with-actuators-not-providing-states"]], "Example 15: Using multiple controller managers": [[34, "example-15-using-multiple-controller-managers"]], "Example 1: RRBot": [[28, "example-1-rrbot"]], "Example 3: Robots with multiple interfaces": [[36, "example-3-robots-with-multiple-interfaces"]], "Example 4: Industrial robot with integrated sensor": [[37, "example-4-industrial-robot-with-integrated-sensor"]], "Example 5: Industrial robot with externally connected sensor": [[38, "example-5-industrial-robot-with-externally-connected-sensor"]], "Example 6: Modular Robots with separate communication to each actuator": [[39, "example-6-modular-robots-with-separate-communication-to-each-actuator"]], "Example 7: Full tutorial with a 6DOF robot": [[40, "example-7-full-tutorial-with-a-6dof-robot"]], "Example 8: Industrial Robots with an exposed transmission interface": [[41, "example-8-industrial-robots-with-an-exposed-transmission-interface"]], "Example 9: Simulation with RRBot": [[42, "example-9-simulation-with-rrbot"]], "Examples": [[18, "examples"], [19, "examples"], [21, "examples"], [26, "examples"]], "Examples Overview": [[26, "examples-overview"]], "Execution logic of the controller": [[62, "execution-logic-of-the-controller"], [64, "execution-logic-of-the-controller"], [69, "execution-logic-of-the-controller"]], "Feature-parity for controllers from ROS1": [[8, "feature-parity-for-controllers-from-ros1"]], "Feedback": [[46, "feedback"]], "Files used for this demo": [[37, "files-used-for-this-demo"]], "Files used for this demos": [[28, "files-used-for-this-demos"], [29, "files-used-for-this-demos"], [30, "files-used-for-this-demos"], [31, "files-used-for-this-demos"], [32, "files-used-for-this-demos"], [33, "files-used-for-this-demos"], [35, "files-used-for-this-demos"], [36, "files-used-for-this-demos"], [38, "files-used-for-this-demos"], [39, "files-used-for-this-demos"], [41, "files-used-for-this-demos"], [42, "files-used-for-this-demos"]], "Force Torque Sensor Broadcaster": [[53, 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[[46, "output"]], "Overview": [[21, "overview"]], "PID Controller": [[64, "pid-controller"]], "PID control joints": [[3, "pid-control-joints"]], "Parallel Gripper Action Controller": [[63, "parallel-gripper-action-controller"]], "Parameters": [[13, "parameters"], [18, "parameters"], [23, "parameters"], [43, "parameters"], [44, "parameters"], [45, "parameters"], [46, "parameters"], [52, "parameters"], [53, "parameters"], [54, "parameters"], [55, "parameters"], [56, "parameters"], [57, "parameters"], [58, "parameters"], [62, "parameters"], [63, "parameters"], [64, "parameters"], [65, "parameters"], [66, "parameters"], [67, "parameters"], [69, "parameters"], [70, "parameters"], [71, "parameters"], [72, "parameters"]], "Pendulum with passive joints": [[3, "pendulum-with-passive-joints"]], "Pendulum with passive joints (cart-pole)": [[5, "pendulum-with-passive-joints-cart-pole"]], "People": [[11, "people"], [73, "people"]], "Per-Interface Parameters": [[23, "per-interface-parameters"]], "Per-Package API Documentation": [[1, "per-package-api-documentation"]], "Plugin description file (controller)": [[40, "plugin-description-file-controller"]], "Plugin description file (hardware)": [[40, "plugin-description-file-hardware"]], "Pose Broadcaster": [[65, "pose-broadcaster"]], "Preemption policy 1": [[61, "preemption-policy"]], "Presentations": [[10, "presentations"]], "Project Ideas for GSoC 2024": [[8, "project-ideas-for-gsoc-2024"]], "Publishers": [[46, "publishers"], [61, "publishers"], [62, "publishers"], [64, "publishers"], [69, "publishers"]], "Pull Requests": [[2, "pull-requests"]], "Quick Hints": [[26, "quick-hints"]], "ROS 2 Interfaces": [[46, "ros-2-interfaces"], [70, "ros-2-interfaces"]], "ROS 2 interface of the controller": [[44, "ros-2-interface-of-the-controller"], [52, "ros-2-interface-of-the-controller"], [54, "ros-2-interface-of-the-controller"], [66, "ros-2-interface-of-the-controller"], [72, "ros-2-interface-of-the-controller"]], "ROSCon 2023 Workshop": 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Manager", "Debugging", "ros2_control", "Iron to Jazzy", "Iron to Jazzy", "Running Hardware Components Asynchronously", "Different update rates for Hardware Components", "Hardware Components", "ros2_control hardware interface types", "Joint Kinematics for ros2_control", "Mock Components", "Writing a Hardware Component", "Command Line Interface", "Demos", "<no title>", "Example 1: RRBot", "Example 10: Industrial robot with GPIO interfaces", "CarlikeBot", "Example 12: Controller chaining with RRBot", "Example 13: Multi-robot system with lifecycle management", "Example 14: Modular robot with actuators not providing states", "Example 15: Using multiple controller managers", "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 robot", "Example 8: Industrial Robots with an exposed transmission interface", "Example 9: Simulation with RRBot", "ackermann_steering_controller", "Admittance Controller", "bicycle_steering_controller", "diff_drive_controller", "ros2_controllers", "Migration Guides: Iron to Jazzy", "Wheeled Mobile Robot Kinematics", "Release Notes: Iron to Jazzy", "Writing a new controller", "effort_controllers", "Force Torque Sensor Broadcaster", "forward_command_controller", "gpio_controllers", "Gripper Action Controller", "IMU Sensor Broadcaster", "joint_state_broadcaster", "Details about parameters", "Trajectory Representation", "joint_trajectory_controller", "mecanum_drive_controller", "Parallel Gripper Action Controller", "PID Controller", "Pose Broadcaster", "position_controllers", "Range Sensor Broadcaster", "rqt_joint_trajectory_controller", "steering_controllers_library", "tricycle_controller", "tricycle_steering_controller", "velocity_controllers", "ROSCon 2024 Workshop", "Simulator Integrations", "Supported Robots", 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"acknowledgements"]], "Actions 1": [[61, "actions"]], "Activation and Deactivation Chained Controllers": [[12, "activation-and-deactivation-chained-controllers"]], "Adaption of Command-/StateInterfaces": [[16, "adaption-of-command-stateinterfaces"], [17, "adaption-of-command-stateinterfaces"]], "Add ros2_control tag to a URDF": [[3, "add-ros2-control-tag-to-a-urdf"]], "Add ros2_control tag to a URDF or SDF": [[5, "add-ros2-control-tag-to-a-urdf-or-sdf"]], "Add support for hardware semantic components": [[8, "add-support-for-hardware-semantic-components"]], "Add the gazebo_ros2_control plugin": [[3, "add-the-gazebo-ros2-control-plugin"]], "Add the gz_ros2_control plugin": [[5, "add-the-gz-ros2-control-plugin"]], "Additional notes": [[14, "additional-notes"]], "Admittance Controller": [[44, "admittance-controller"]], "Advanced: custom gazebo_ros2_control Simulation Plugins": [[3, "advanced-custom-gazebo-ros2-control-simulation-plugins"]], "Advanced: custom gz_ros2_control Simulation Plugins": [[5, "advanced-custom-gz-ros2-control-simulation-plugins"]], "An example parameter file": [[56, "an-example-parameter-file"], [57, "an-example-parameter-file"], [58, "an-example-parameter-file"], [59, "an-example-parameter-file"], [64, "an-example-parameter-file"], [65, "an-example-parameter-file"], [67, "an-example-parameter-file"]], "Architecture": [[4, "architecture"]], "Available controllers": [[32, "available-controllers"]], "Before coming to the conference": [[11, "before-coming-to-the-conference"], [73, "before-coming-to-the-conference"]], "Between different ROS 2 distributions": [[7, "between-different-ros-2-distributions"]], "Binary packages": [[4, "binary-packages"]], "Broadcasters": [[47, "broadcasters"]], "Build from debian packages": [[26, "build-from-debian-packages"]], "Build from source": [[26, "build-from-source"]], "Building from Source": [[4, "building-from-source"]], "CI configuration": [[2, "ci-configuration"]], "CMake library (controller)": [[40, "cmake-library-controller"]], "CMake library (hardware)": [[40, "cmake-library-hardware"]], "Car-Like (Bicycle) Model": [[49, "car-like-bicycle-model"]], "CarlikeBot": [[30, "carlikebot"]], "Cart on rail": [[3, "cart-on-rail"], [5, "cart-on-rail"]], "Caveats on hardware lifecycling": [[32, "caveats-on-hardware-lifecycling"]], "Closing remarks": [[12, "closing-remarks"]], "Coming from ros_control (ROS 1)": [[7, "coming-from-ros-control-ros-1"]], "Command Line Interface": [[25, "command-line-interface"]], "Command interfaces": [[69, "command-interfaces"]], "Commands": [[44, "commands"], [58, "commands"], [61, "commands"], [62, "commands"], [64, "commands"]], "Common Controller Parameters": [[47, "common-controller-parameters"]], "Communication protocols": [[75, "communication-protocols"]], "Community": [[74, "community"]], "Companies and Institutions": [[0, "companies-and-institutions"]], "Component Parameters": [[23, "component-parameters"]], "Concepts": [[13, "concepts"], [15, "concepts"]], "Contributing": [[2, "contributing"]], "Contributors": [[0, "contributors"]], "Controller Chaining / Cascade Control": [[12, "controller-chaining-cascade-control"]], "Controller Manager": [[4, "controller-manager"], [13, "controller-manager"]], "Controller Migration": [[6, "controller-migration"]], "Controllers": [[4, "controllers"]], "Controllers for Manipulators and Other Robots": [[47, "controllers-for-manipulators-and-other-robots"]], "Controllers for Wheeled Mobile Robots": [[47, "controllers-for-wheeled-mobile-robots"]], "Controllers from this demo": [[28, "controllers-from-this-demo"], [29, "controllers-from-this-demo"], [30, "controllers-from-this-demo"], [31, "controllers-from-this-demo"], [32, "controllers-from-this-demo"], [33, "controllers-from-this-demo"], [34, "controllers-from-this-demo"], [35, "controllers-from-this-demo"], [36, "controllers-from-this-demo"], [37, "controllers-from-this-demo"], [38, "controllers-from-this-demo"], [39, 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parameters": [[59, "details-about-parameters"]], "Determinism": [[13, "determinism"]], "Development Organisation and Communication": [[76, "development-organisation-and-communication"]], "Diagrams": [[10, "diagrams"]], "DiffBot": [[35, "diffbot"]], "Differences to ros_control (ROS 1)": [[6, "differences-to-ros-control-ros-1"]], "Different update rates for Hardware Components": [[19, "different-update-rates-for-hardware-components"]], "Differential Drive Robot": [[49, "differential-drive-robot"]], "Documentation Usage": [[2, "documentation-usage"]], "Double-Traction Axle": [[49, "double-traction-axle"]], "End-effectors": [[75, "end-effectors"]], "Example 10: Industrial robot with GPIO interfaces": [[29, "example-10-industrial-robot-with-gpio-interfaces"]], "Example 12: Controller chaining with RRBot": [[31, "example-12-controller-chaining-with-rrbot"]], "Example 13: Multi-robot system with lifecycle management": [[32, "example-13-multi-robot-system-with-lifecycle-management"]], "Example 14: Modular robot with actuators not providing states": [[33, "example-14-modular-robot-with-actuators-not-providing-states"]], "Example 15: Using multiple controller managers": [[34, "example-15-using-multiple-controller-managers"]], "Example 1: RRBot": [[28, "example-1-rrbot"]], "Example 3: Robots with multiple interfaces": [[36, "example-3-robots-with-multiple-interfaces"]], "Example 4: Industrial robot with integrated sensor": [[37, "example-4-industrial-robot-with-integrated-sensor"]], "Example 5: Industrial robot with externally connected sensor": [[38, "example-5-industrial-robot-with-externally-connected-sensor"]], "Example 6: Modular Robots with separate communication to each actuator": [[39, "example-6-modular-robots-with-separate-communication-to-each-actuator"]], "Example 7: Full tutorial with a 6DOF robot": [[40, "example-7-full-tutorial-with-a-6dof-robot"]], "Example 8: Industrial Robots with an exposed transmission interface": [[41, 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Started", "gz_ros2_control", "Differences to ros_control (ROS 1)", "Migration Guides", "Project Ideas for GSoC 2024", "Release Notes", "Resources", "ROSCon 2023 Workshop", "Controller Chaining / Cascade Control", "Controller Manager", "Debugging", "ros2_control", "Iron to Jazzy", "Iron to Jazzy", "Running Hardware Components Asynchronously", "Different update rates for Hardware Components", "Hardware Components", "ros2_control hardware interface types", "Joint Kinematics for ros2_control", "Mock Components", "Writing a Hardware Component", "Command Line Interface", "Demos", "<no title>", "Example 1: RRBot", "Example 10: Industrial robot with GPIO interfaces", "CarlikeBot", "Example 12: Controller chaining with RRBot", "Example 13: Multi-robot system with lifecycle management", "Example 14: Modular robot with actuators not providing states", "Example 15: Using multiple controller managers", "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 robot", "Example 8: Industrial Robots with an exposed transmission interface", "Example 9: Simulation with RRBot", "ackermann_steering_controller", "Admittance Controller", "bicycle_steering_controller", "diff_drive_controller", "ros2_controllers", "Migration Guides: Iron to Jazzy", "Wheeled Mobile Robot Kinematics", "Release Notes: Iron to Jazzy", "Writing a new controller", "effort_controllers", "Force Torque Sensor Broadcaster", "forward_command_controller", "gpio_controllers", "Gripper Action Controller", "IMU Sensor Broadcaster", "joint_state_broadcaster", "Details about parameters", "Trajectory Representation", "joint_trajectory_controller", "mecanum_drive_controller", "Parallel Gripper Action Controller", "PID Controller", "Pose Broadcaster", "position_controllers", "Range Sensor Broadcaster", "rqt_joint_trajectory_controller", "steering_controllers_library", "tricycle_controller", "tricycle_steering_controller", "velocity_controllers", "ROSCon 2024 Workshop", "Simulator Integrations", "Supported Robots", "Welcome to the ros2_control documentation!"], "titleterms": {"": [6, 46, 55, 61, 62, 64, 69], "02": 10, "05": 10, "06": 10, "07": 10, "09": 10, "1": [6, 7, 28, 61], "10": [10, 29], "12": [10, 31], "13": [10, 32], "14": 33, "15": 34, "18": 10, "19": 10, "2": [7, 44, 46, 52, 54, 66, 70, 72], "2021": 10, "2022": 10, "2023": [10, 11], "2024": [8, 73], "3": 36, "4": 37, "5": [10, 38], "6": 39, "6dof": 40, "7": 40, "8": 41, "9": 42, "A": 12, "To": [3, 5, 14, 26], "about": 59, "access": 6, "ackermann": 49, "ackermann_steering_control": 43, "acknowledg": 0, "action": [56, 61, 63], "activ": 12, "actuat": [33, 39], "adapt": [16, 17], "add": [3, 5, 8], "addit": 14, "admitt": 44, "admittance_control": 50, "advanc": [3, 5], "all": 13, "an": [41, 56, 57, 58, 59, 64, 65, 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"pose-broadcaster"]], "Preemption policy 1": [[61, "preemption-policy"]], "Presentations": [[10, "presentations"]], "Project Ideas for GSoC 2024": [[8, "project-ideas-for-gsoc-2024"]], "Publishers": [[46, "publishers"], [61, "publishers"], [62, "publishers"], [64, "publishers"], [69, "publishers"]], "Pull Requests": [[2, "pull-requests"]], "Quick Hints": [[26, "quick-hints"]], "ROS 2 Interfaces": [[46, "ros-2-interfaces"], [70, "ros-2-interfaces"]], "ROS 2 interface of the controller": [[44, "ros-2-interface-of-the-controller"], [52, "ros-2-interface-of-the-controller"], [54, "ros-2-interface-of-the-controller"], [66, "ros-2-interface-of-the-controller"], [72, "ros-2-interface-of-the-controller"]], "ROSCon 2023 Workshop": [[11, "roscon-2023-workshop"]], "ROSCon 2024 Workshop": [[73, "roscon-2024-workshop"]], "Range Sensor Broadcaster": [[67, "range-sensor-broadcaster"]], "References": [[14, "references"], [44, "references"], [46, "references"], [61, "references"]], "References (from a preceding controller)": [[62, "references-from-a-preceding-controller"], [64, "references-from-a-preceding-controller"], [69, "references-from-a-preceding-controller"]], "Release Notes": [[9, "release-notes"]], "Release Notes: Iron to Jazzy": [[50, "release-notes-iron-to-jazzy"]], "Repository structure and CI configuration": [[2, "repository-structure-and-ci-configuration"]], "Resource Manager": [[4, "resource-manager"]], "Resources": [[10, "resources"]], "Restarting all controllers": [[13, "restarting-all-controllers"]], "Restarting hardware": [[13, "restarting-hardware"]], "RobotHardware to Components": [[6, "robothardware-to-components"]], "Rules for the repositories and process of merging pull requests": [[2, "rules-for-the-repositories-and-process-of-merging-pull-requests"]], "Running Hardware Components Asynchronously": [[18, "running-hardware-components-asynchronously"]], "Running the Framework for Your Robot": [[4, "running-the-framework-for-your-robot"]], "Scenario: Using 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hardware interface types", "Joint Kinematics for ros2_control", "Mock Components", "Writing a Hardware Component", "Command Line Interface", "Demos", "<no title>", "Example 1: RRBot", "Example 10: Industrial robot with GPIO interfaces", "CarlikeBot", "Example 12: Controller chaining with RRBot", "Example 13: Multi-robot system with lifecycle management", "Example 14: Modular robot with actuators not providing states", "Example 15: Using multiple controller managers", "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 robot", "Example 8: Industrial Robots with an exposed transmission interface", "Example 9: Simulation with RRBot", "ackermann_steering_controller", "Admittance Controller", "bicycle_steering_controller", "diff_drive_controller", 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Development Organisation and Communication -

Built on 2024-12-24 at 05:37 GMT

+

Built on 2024-12-24 at 05:58 GMT

diff --git a/rolling/searchindex.js b/rolling/searchindex.js index 437836e3d9..1f5906c12d 100644 --- a/rolling/searchindex.js +++ b/rolling/searchindex.js @@ -1 +1 @@ -Search.setIndex({"alltitles": {"2021-05 ROSCon Fr 2021": [[10, "roscon-fr-2021"]], "2021-06 ROSDevDay 2021": [[10, "rosdevday-2021"]], "2021-10 ROS World 2021": [[10, "ros-world-2021"]], "2021-10-07 Weekly Robotics Meetup #13": [[10, "weekly-robotics-meetup-13"]], "2022-06 ROSCon Fr 2022": [[10, "roscon-fr-2022"]], "2022-10 ROSCon 2022": [[10, "roscon-2022"]], "2022-12 ROS-Industrial Conference 2022": [[10, "ros-industrial-conference-2022"]], "2023-02 ROS Meetup Munich #5": [[10, "ros-meetup-munich-5"]], "2023-07-07 ROS Developers Day 2023: Configure a Mobile Manipulator with ros2_control": [[10, "ros-developers-day-2023-configure-a-mobile-manipulator-with-ros2-control"]], "2023-09-19 ROSCon Spain Talk: Introduction to ros2_control": [[10, "roscon-spain-talk-introduction-to-ros2-control"]], "2023-10-18 ROSCon Workshop: ros2_control on Steroids": [[10, "roscon-workshop-ros2-control-on-steroids"]], "A Controller Base-Class: ChainableController": [[12, "a-controller-base-class-chainablecontroller"]], "API Documentation": [[1, "api-documentation"], [15, "api-documentation"]], "Ackermann Steering": [[49, "ackermann-steering"]], "Ackermann Steering with Traction": [[49, "ackermann-steering-with-traction"]], "Acknowledgements": [[0, "acknowledgements"]], "Actions 1": [[61, "actions"]], "Activation and Deactivation Chained Controllers": [[12, "activation-and-deactivation-chained-controllers"]], "Adaption of Command-/StateInterfaces": [[16, "adaption-of-command-stateinterfaces"], [17, "adaption-of-command-stateinterfaces"]], "Add ros2_control tag to a URDF": [[3, "add-ros2-control-tag-to-a-urdf"]], "Add ros2_control tag to a URDF or SDF": [[5, "add-ros2-control-tag-to-a-urdf-or-sdf"]], "Add support for hardware semantic components": [[8, "add-support-for-hardware-semantic-components"]], "Add the gazebo_ros2_control plugin": [[3, "add-the-gazebo-ros2-control-plugin"]], "Add the gz_ros2_control plugin": [[5, "add-the-gz-ros2-control-plugin"]], "Additional notes": [[14, "additional-notes"]], "Admittance Controller": [[44, "admittance-controller"]], "Advanced: custom gazebo_ros2_control Simulation Plugins": [[3, "advanced-custom-gazebo-ros2-control-simulation-plugins"]], "Advanced: custom gz_ros2_control Simulation Plugins": [[5, "advanced-custom-gz-ros2-control-simulation-plugins"]], "An example parameter file": [[56, "an-example-parameter-file"], [57, "an-example-parameter-file"], [58, "an-example-parameter-file"], [59, "an-example-parameter-file"], [64, "an-example-parameter-file"], [65, "an-example-parameter-file"], [67, "an-example-parameter-file"]], "Architecture": [[4, "architecture"]], "Available controllers": [[32, "available-controllers"]], "Before coming to the conference": [[11, "before-coming-to-the-conference"], [73, "before-coming-to-the-conference"]], "Between different ROS 2 distributions": [[7, "between-different-ros-2-distributions"]], "Binary packages": [[4, "binary-packages"]], "Broadcasters": [[47, "broadcasters"]], "Build from debian packages": [[26, "build-from-debian-packages"]], "Build from source": [[26, "build-from-source"]], "Building from Source": [[4, "building-from-source"]], "CI configuration": [[2, "ci-configuration"]], "CMake library (controller)": [[40, "cmake-library-controller"]], "CMake library (hardware)": [[40, "cmake-library-hardware"]], "Car-Like (Bicycle) Model": [[49, "car-like-bicycle-model"]], "CarlikeBot": [[30, "carlikebot"]], "Cart on rail": [[3, "cart-on-rail"], [5, "cart-on-rail"]], "Caveats on hardware lifecycling": [[32, "caveats-on-hardware-lifecycling"]], "Closing remarks": [[12, "closing-remarks"]], "Coming from ros_control (ROS 1)": [[7, "coming-from-ros-control-ros-1"]], "Command Line Interface": [[25, "command-line-interface"]], "Command interfaces": [[69, "command-interfaces"]], "Commands": [[44, "commands"], [58, "commands"], [61, "commands"], [62, "commands"], [64, "commands"]], "Common Controller Parameters": [[47, "common-controller-parameters"]], "Communication protocols": [[75, "communication-protocols"]], "Community": [[74, "community"]], "Companies and Institutions": [[0, "companies-and-institutions"]], "Component Parameters": [[23, "component-parameters"]], "Concepts": [[13, "concepts"], [15, "concepts"]], "Contributing": [[2, "contributing"]], "Contributors": [[0, "contributors"]], "Controller Chaining / Cascade Control": [[12, "controller-chaining-cascade-control"]], "Controller Manager": [[4, "controller-manager"], [13, "controller-manager"]], "Controller Migration": [[6, "controller-migration"]], "Controllers": [[4, "controllers"]], "Controllers for Manipulators and Other Robots": [[47, "controllers-for-manipulators-and-other-robots"]], "Controllers for Wheeled Mobile Robots": [[47, "controllers-for-wheeled-mobile-robots"]], "Controllers from this demo": [[28, "controllers-from-this-demo"], [29, "controllers-from-this-demo"], [30, "controllers-from-this-demo"], [31, "controllers-from-this-demo"], [32, "controllers-from-this-demo"], [33, "controllers-from-this-demo"], [34, "controllers-from-this-demo"], [35, "controllers-from-this-demo"], [36, "controllers-from-this-demo"], [37, "controllers-from-this-demo"], [38, "controllers-from-this-demo"], [39, "controllers-from-this-demo"], [41, "controllers-from-this-demo"], [42, "controllers-from-this-demo"]], "Controller\u2019s Access to Hardware": [[6, "controller-s-access-to-hardware"]], "Currently implemented kinematics": [[69, "currently-implemented-kinematics"]], "Custom export of Command-/StateInterfaces": [[16, "custom-export-of-command-stateinterfaces"]], "Debugging": [[14, "debugging"]], "Debugging outputs": [[12, "debugging-outputs"]], "Default gazebo_ros2_control Behavior": [[3, "default-gazebo-ros2-control-behavior"]], "Default gz_ros2_control Behavior": [[5, "default-gz-ros2-control-behavior"]], "Demos": [[26, "demos"]], "Description of controller\u2019s interfaces": [[46, "description-of-controller-s-interfaces"], [55, "description-of-controller-s-interfaces"], [61, "description-of-controller-s-interfaces"], [62, "description-of-controller-s-interfaces"], [64, "description-of-controller-s-interfaces"], [69, "description-of-controller-s-interfaces"]], "Details about parameters": [[59, "details-about-parameters"]], "Determinism": [[13, "determinism"]], "Development Organisation and Communication": [[76, "development-organisation-and-communication"]], "Diagrams": [[10, "diagrams"]], "DiffBot": [[35, "diffbot"]], "Differences to ros_control (ROS 1)": [[6, "differences-to-ros-control-ros-1"]], "Different update rates for Hardware Components": [[19, "different-update-rates-for-hardware-components"]], "Differential Drive Robot": [[49, "differential-drive-robot"]], "Documentation Usage": [[2, "documentation-usage"]], "Double-Traction Axle": [[49, "double-traction-axle"]], "End-effectors": [[75, "end-effectors"]], "Example 10: Industrial robot with GPIO interfaces": [[29, "example-10-industrial-robot-with-gpio-interfaces"]], "Example 12: Controller chaining with RRBot": [[31, "example-12-controller-chaining-with-rrbot"]], "Example 13: Multi-robot system with lifecycle management": [[32, "example-13-multi-robot-system-with-lifecycle-management"]], "Example 14: Modular robot with actuators not providing states": [[33, "example-14-modular-robot-with-actuators-not-providing-states"]], "Example 15: Using multiple controller managers": [[34, "example-15-using-multiple-controller-managers"]], "Example 1: RRBot": [[28, "example-1-rrbot"]], "Example 3: Robots with multiple interfaces": [[36, "example-3-robots-with-multiple-interfaces"]], "Example 4: Industrial robot with integrated sensor": [[37, "example-4-industrial-robot-with-integrated-sensor"]], "Example 5: Industrial robot with externally connected sensor": [[38, "example-5-industrial-robot-with-externally-connected-sensor"]], "Example 6: Modular Robots with separate communication to each actuator": [[39, "example-6-modular-robots-with-separate-communication-to-each-actuator"]], "Example 7: Full tutorial with a 6DOF robot": [[40, "example-7-full-tutorial-with-a-6dof-robot"]], "Example 8: Industrial Robots with an exposed transmission interface": [[41, "example-8-industrial-robots-with-an-exposed-transmission-interface"]], "Example 9: Simulation with RRBot": [[42, "example-9-simulation-with-rrbot"]], "Examples": [[18, "examples"], [19, "examples"], [21, "examples"], [26, "examples"]], "Examples Overview": [[26, "examples-overview"]], "Execution logic of the controller": [[62, "execution-logic-of-the-controller"], [64, "execution-logic-of-the-controller"], [69, "execution-logic-of-the-controller"]], "Feature-parity for controllers from ROS1": [[8, "feature-parity-for-controllers-from-ros1"]], "Feedback": [[46, "feedback"]], "Files used for this demo": [[37, "files-used-for-this-demo"]], "Files used for this demos": [[28, "files-used-for-this-demos"], [29, "files-used-for-this-demos"], [30, "files-used-for-this-demos"], [31, "files-used-for-this-demos"], [32, "files-used-for-this-demos"], [33, "files-used-for-this-demos"], [35, "files-used-for-this-demos"], [36, "files-used-for-this-demos"], [38, "files-used-for-this-demos"], [39, "files-used-for-this-demos"], [41, "files-used-for-this-demos"], [42, "files-used-for-this-demos"]], "Force Torque Sensor Broadcaster": [[53, "force-torque-sensor-broadcaster"]], "Further information": [[61, "further-information"]], "GPIOs": [[21, "gpios"]], "General": [[17, "general"]], "Generic System": [[23, "generic-system"]], "Geometry": [[40, "geometry"]], "Getting Started": [[4, "getting-started"]], "Goals": [[26, "goals"]], "Gripper": [[3, "gripper"], [5, "gripper"]], "Gripper Action Controller": [[56, "gripper-action-controller"]], "Guidelines and Best Practices": [[15, "guidelines-and-best-practices"], [20, "guidelines-and-best-practices"], [47, "guidelines-and-best-practices"]], "Handling Multiple Controller Managers": [[13, "handling-multiple-controller-managers"]], "Handling of errors that happen during read() and write() calls": [[20, "handling-of-errors-that-happen-during-read-and-write-calls"]], "Hardware Components": [[4, "hardware-components"], [20, "hardware-components"]], "Hardware Description in URDF": [[4, "hardware-description-in-urdf"]], "Hardware Groups": [[21, "hardware-groups"]], "Hardware Interfaces": [[6, "hardware-interfaces"]], "Hardware Structures - classes": [[6, "hardware-structures-classes"]], "Hardware and Controller Errors": [[13, "hardware-and-controller-errors"]], "Hardware and interfaces": [[32, "hardware-and-interfaces"]], "Hardware interface type": [[54, "hardware-interface-type"], [58, "hardware-interface-type"]], "Hardware interface types": [[61, "hardware-interface-types"]], "Helper scripts": [[13, "helper-scripts"]], "Hosted by ros-controls": [[74, "hosted-by-ros-controls"]], "How-To": [[14, "how-to"]], "IMU Sensor Broadcaster": [[57, "imu-sensor-broadcaster"]], "Images": [[10, "images"]], "Implementation": [[12, "implementation"]], "Inner Resource Management": [[12, "inner-resource-management"]], "Installation": [[4, "installation"], [26, "installation"]], "Interpolation Method none": [[60, "interpolation-method-none"]], "Interpolation Method spline": [[60, "interpolation-method-spline"]], "Iron to Jazzy": [[16, "iron-to-jazzy"], [17, "iron-to-jazzy"]], "Joint Kinematics for ros2_control": [[22, "joint-kinematics-for-ros2-control"]], "Joints": [[21, "joints"]], "Launching controller_manager with ros2_control_node": [[13, "launching-controller-manager-with-ros2-control-node"]], "Launching the example": [[40, "launching-the-example"]], "List of parameters": [[56, "list-of-parameters"], [57, "list-of-parameters"], [58, "list-of-parameters"], [59, "list-of-parameters"], [64, "list-of-parameters"], [65, "list-of-parameters"], [67, "list-of-parameters"]], "Local installation": [[26, "local-installation"]], "Maintainers": [[0, "maintainers"]], "Migration Guide to ros2_control": [[6, "migration-guide-to-ros2-control"]], "Migration Guides": [[7, "migration-guides"]], "Migration Guides: Iron to Jazzy": [[48, "migration-guides-iron-to-jazzy"]], "Migration of Command-/StateInterfaces": [[16, "migration-of-command-stateinterfaces"]], "Migration of unlisted Command-/StateInterfaces not defined in ros2_control XML-tag": [[16, "migration-of-unlisted-command-stateinterfaces-not-defined-in-ros2-control-xml-tag"]], "Mission-Control for ros2_control": [[8, "mission-control-for-ros2-control"]], "Mobile robots": [[3, "mobile-robots"], [5, "mobile-robots"]], "Mock Components": [[23, "mock-components"]], "Modifying or building your own": [[3, "modifying-or-building-your-own"], [5, "modifying-or-building-your-own"]], "Motivation, Purpose and Use": [[12, "motivation-purpose-and-use"]], "Multiple Namespaces": [[3, "multiple-namespaces"]], "Nomenclature": [[12, "nomenclature"], [22, "nomenclature"]], "Non robot-devices": [[75, "non-robot-devices"]], "Nonholonomic Wheeled Mobile Robots": [[49, "nonholonomic-wheeled-mobile-robots"]], "Official (supported by robot manufacturer)": [[75, "official-supported-by-robot-manufacturer"]], "Omnidirectional Wheeled Mobile Robots": [[49, "omnidirectional-wheeled-mobile-robots"]], "Other features": [[46, "other-features"], [61, "other-features"], [70, "other-features"]], "Output": [[46, "output"]], "Overview": [[21, "overview"]], "PID Controller": [[64, "pid-controller"]], "PID control joints": [[3, "pid-control-joints"]], "Parallel Gripper Action Controller": [[63, "parallel-gripper-action-controller"]], "Parameters": [[13, "parameters"], [18, "parameters"], [23, "parameters"], [43, "parameters"], [44, "parameters"], [45, "parameters"], [46, "parameters"], [52, "parameters"], [53, "parameters"], [54, "parameters"], [55, "parameters"], [56, "parameters"], [57, "parameters"], [58, "parameters"], [62, "parameters"], [63, "parameters"], [64, "parameters"], [65, "parameters"], [66, "parameters"], [67, "parameters"], [69, "parameters"], [70, "parameters"], [71, "parameters"], [72, "parameters"]], "Pendulum with passive joints": [[3, "pendulum-with-passive-joints"]], "Pendulum with passive joints (cart-pole)": [[5, "pendulum-with-passive-joints-cart-pole"]], "People": [[11, "people"], [73, "people"]], "Per-Interface Parameters": [[23, "per-interface-parameters"]], "Per-Package API Documentation": [[1, "per-package-api-documentation"]], "Plugin description file (controller)": [[40, "plugin-description-file-controller"]], "Plugin description file (hardware)": [[40, "plugin-description-file-hardware"]], "Pose Broadcaster": [[65, "pose-broadcaster"]], "Preemption policy 1": [[61, "preemption-policy"]], "Presentations": [[10, "presentations"]], "Project Ideas for GSoC 2024": [[8, "project-ideas-for-gsoc-2024"]], "Publishers": [[46, "publishers"], [61, "publishers"], [62, "publishers"], [64, "publishers"], [69, "publishers"]], "Pull Requests": [[2, "pull-requests"]], "Quick Hints": [[26, "quick-hints"]], "ROS 2 Interfaces": [[46, "ros-2-interfaces"], [70, "ros-2-interfaces"]], "ROS 2 interface of the controller": [[44, "ros-2-interface-of-the-controller"], [52, "ros-2-interface-of-the-controller"], [54, "ros-2-interface-of-the-controller"], [66, "ros-2-interface-of-the-controller"], [72, "ros-2-interface-of-the-controller"]], "ROSCon 2023 Workshop": [[11, "roscon-2023-workshop"]], "ROSCon 2024 Workshop": [[73, "roscon-2024-workshop"]], "Range Sensor Broadcaster": [[67, "range-sensor-broadcaster"]], "References": [[14, "references"], [44, "references"], [46, "references"], [61, "references"]], "References (from a preceding controller)": [[62, "references-from-a-preceding-controller"], [64, "references-from-a-preceding-controller"], [69, "references-from-a-preceding-controller"]], "Release Notes": [[9, "release-notes"]], "Release Notes: Iron to Jazzy": [[50, "release-notes-iron-to-jazzy"]], "Repository structure and CI configuration": [[2, "repository-structure-and-ci-configuration"]], "Resource Manager": [[4, "resource-manager"]], "Resources": [[10, "resources"]], "Restarting all controllers": [[13, "restarting-all-controllers"]], "Restarting hardware": [[13, "restarting-hardware"]], "RobotHardware to Components": [[6, "robothardware-to-components"]], "Rules for the repositories and process of merging pull requests": [[2, "rules-for-the-repositories-and-process-of-merging-pull-requests"]], "Running Hardware Components Asynchronously": [[18, "running-hardware-components-asynchronously"]], "Running the Framework for Your Robot": [[4, "running-the-framework-for-your-robot"]], "Scenario: Using multiple controller managers on the same machine": [[34, "scenario-using-multiple-controller-managers-on-the-same-machine"]], "Scenario: Using ros2_control within a local namespace": [[34, "scenario-using-ros2-control-within-a-local-namespace"]], "Scope of the Document and Background Knowledge": [[12, "scope-of-the-document-and-background-knowledge"]], "Sensors": [[21, "sensors"]], "Services": [[61, "services"], [64, "services"]], "Set up controllers": [[3, "set-up-controllers"], [5, "set-up-controllers"]], "Simple setup": [[3, "simple-setup"], [5, "simple-setup"]], "Simulating Closed-Loop Kinematic Chains": [[22, "simulating-closed-loop-kinematic-chains"]], "Simulator Integrations": [[74, "simulator-integrations"]], "Slides": [[11, "slides"]], "State interfaces": [[69, "state-interfaces"]], "States": [[44, "states"], [61, "states"], [62, "states"], [64, "states"]], "Subscriber 1": [[61, "subscriber"]], "Subscribers": [[13, "subscribers"], [46, "subscribers"], [62, "subscribers"], [64, "subscribers"], [69, "subscribers"], [70, "subscribers"]], "Summary": [[11, "summary"], [73, "summary"]], "Supported Robots": 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"Unofficial (from the community)": [[75, "unofficial-from-the-community"]], "Usage": [[3, "usage"], [5, "usage"]], "Useful External References": [[24, "useful-external-references"], [51, "useful-external-references"]], "User Interfaces": [[4, "user-interfaces"]], "Using Docker": [[26, "using-docker"]], "Using Joint Trajectory Controller(s)": [[61, "using-joint-trajectory-controller-s"]], "Using PID control joints": [[3, "using-pid-control-joints"]], "Using mimic joints in simulation": [[3, "using-mimic-joints-in-simulation"], [5, "using-mimic-joints-in-simulation"]], "Using the Controller Manager in a Process": [[13, "using-the-controller-manager-in-a-process"]], "Using the controller": [[64, "using-the-controller"]], "Visualized Examples": [[60, "visualized-examples"]], "Welcome to the ros2_control documentation!": [[76, "welcome-to-the-ros2-control-documentation"]], "What you can find in this repository": [[26, "what-you-can-find-in-this-repository"]], "Wheeled Mobile Robot 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with GPIO interfaces", "CarlikeBot", "Example 12: Controller chaining with RRBot", "Example 13: Multi-robot system with lifecycle management", "Example 14: Modular robot with actuators not providing states", "Example 15: Using multiple controller managers", "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 robot", "Example 8: Industrial Robots with an exposed transmission interface", "Example 9: Simulation with RRBot", "ackermann_steering_controller", "Admittance Controller", "bicycle_steering_controller", "diff_drive_controller", "ros2_controllers", "Migration Guides: Iron to Jazzy", "Wheeled Mobile Robot Kinematics", "Release Notes: Iron to Jazzy", "Writing a new controller", "effort_controllers", "Force Torque Sensor Broadcaster", "forward_command_controller", "gpio_controllers", "Gripper Action Controller", "IMU Sensor Broadcaster", "joint_state_broadcaster", "Details about parameters", "Trajectory Representation", "joint_trajectory_controller", "mecanum_drive_controller", "Parallel Gripper Action Controller", "PID Controller", "Pose Broadcaster", "position_controllers", "Range Sensor Broadcaster", "rqt_joint_trajectory_controller", "steering_controllers_library", "tricycle_controller", "tricycle_steering_controller", "velocity_controllers", "ROSCon 2024 Workshop", "Simulator Integrations", "Supported Robots", "Welcome to the ros2_control documentation!"], "titleterms": {"": [6, 46, 55, 61, 62, 64, 69], "02": 10, "05": 10, "06": 10, "07": 10, "09": 10, "1": [6, 7, 28, 61], "10": [10, 29], "12": [10, 31], "13": [10, 32], "14": 33, "15": 34, "18": 10, "19": 10, "2": [7, 44, 46, 52, 54, 66, 70, 72], "2021": 10, "2022": 10, "2023": [10, 11], "2024": [8, 73], "3": 36, "4": 37, "5": [10, 38], "6": 39, "6dof": 40, 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"2022-10 ROSCon 2022": [[10, "roscon-2022"]], "2022-12 ROS-Industrial Conference 2022": [[10, "ros-industrial-conference-2022"]], "2023-02 ROS Meetup Munich #5": [[10, "ros-meetup-munich-5"]], "2023-07-07 ROS Developers Day 2023: Configure a Mobile Manipulator with ros2_control": [[10, "ros-developers-day-2023-configure-a-mobile-manipulator-with-ros2-control"]], "2023-09-19 ROSCon Spain Talk: Introduction to ros2_control": [[10, "roscon-spain-talk-introduction-to-ros2-control"]], "2023-10-18 ROSCon Workshop: ros2_control on Steroids": [[10, "roscon-workshop-ros2-control-on-steroids"]], "A Controller Base-Class: ChainableController": [[12, "a-controller-base-class-chainablecontroller"]], "API Documentation": [[1, "api-documentation"], [15, "api-documentation"]], "Ackermann Steering": [[49, "ackermann-steering"]], "Ackermann Steering with Traction": [[49, "ackermann-steering-with-traction"]], "Acknowledgements": [[0, "acknowledgements"]], "Actions 1": [[61, "actions"]], "Activation and Deactivation Chained Controllers": [[12, "activation-and-deactivation-chained-controllers"]], "Adaption of Command-/StateInterfaces": [[16, "adaption-of-command-stateinterfaces"], [17, "adaption-of-command-stateinterfaces"]], "Add ros2_control tag to a URDF": [[3, "add-ros2-control-tag-to-a-urdf"]], "Add ros2_control tag to a URDF or SDF": [[5, "add-ros2-control-tag-to-a-urdf-or-sdf"]], "Add support for hardware semantic components": [[8, "add-support-for-hardware-semantic-components"]], "Add the gazebo_ros2_control plugin": [[3, "add-the-gazebo-ros2-control-plugin"]], "Add the gz_ros2_control plugin": [[5, "add-the-gz-ros2-control-plugin"]], "Additional notes": [[14, "additional-notes"]], "Admittance Controller": [[44, "admittance-controller"]], "Advanced: custom gazebo_ros2_control Simulation Plugins": [[3, "advanced-custom-gazebo-ros2-control-simulation-plugins"]], "Advanced: custom gz_ros2_control Simulation Plugins": [[5, "advanced-custom-gz-ros2-control-simulation-plugins"]], "An 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"cmake-library-hardware"]], "Car-Like (Bicycle) Model": [[49, "car-like-bicycle-model"]], "CarlikeBot": [[30, "carlikebot"]], "Cart on rail": [[3, "cart-on-rail"], [5, "cart-on-rail"]], "Caveats on hardware lifecycling": [[32, "caveats-on-hardware-lifecycling"]], "Closing remarks": [[12, "closing-remarks"]], "Coming from ros_control (ROS 1)": [[7, "coming-from-ros-control-ros-1"]], "Command Line Interface": [[25, "command-line-interface"]], "Command interfaces": [[69, "command-interfaces"]], "Commands": [[44, "commands"], [58, "commands"], [61, "commands"], [62, "commands"], [64, "commands"]], "Common Controller Parameters": [[47, "common-controller-parameters"]], "Communication protocols": [[75, "communication-protocols"]], "Community": [[74, "community"]], "Companies and Institutions": [[0, "companies-and-institutions"]], "Component Parameters": [[23, "component-parameters"]], "Concepts": [[13, "concepts"], [15, "concepts"]], "Contributing": [[2, "contributing"]], "Contributors": [[0, "contributors"]], "Controller Chaining / Cascade Control": [[12, "controller-chaining-cascade-control"]], "Controller Manager": [[4, "controller-manager"], [13, "controller-manager"]], "Controller Migration": [[6, "controller-migration"]], "Controllers": [[4, "controllers"]], "Controllers for Manipulators and Other Robots": [[47, "controllers-for-manipulators-and-other-robots"]], "Controllers for Wheeled Mobile Robots": [[47, "controllers-for-wheeled-mobile-robots"]], "Controllers from this demo": [[28, "controllers-from-this-demo"], [29, "controllers-from-this-demo"], [30, "controllers-from-this-demo"], [31, "controllers-from-this-demo"], [32, "controllers-from-this-demo"], [33, "controllers-from-this-demo"], [34, "controllers-from-this-demo"], [35, "controllers-from-this-demo"], [36, "controllers-from-this-demo"], [37, "controllers-from-this-demo"], [38, "controllers-from-this-demo"], [39, "controllers-from-this-demo"], [41, "controllers-from-this-demo"], [42, "controllers-from-this-demo"]], "Controller\u2019s Access to Hardware": [[6, "controller-s-access-to-hardware"]], "Currently implemented kinematics": [[69, "currently-implemented-kinematics"]], "Custom export of Command-/StateInterfaces": [[16, "custom-export-of-command-stateinterfaces"]], "Debugging": [[14, "debugging"]], "Debugging outputs": [[12, "debugging-outputs"]], "Default gazebo_ros2_control Behavior": [[3, "default-gazebo-ros2-control-behavior"]], "Default gz_ros2_control Behavior": [[5, "default-gz-ros2-control-behavior"]], "Demos": [[26, "demos"]], "Description of controller\u2019s interfaces": [[46, "description-of-controller-s-interfaces"], [55, "description-of-controller-s-interfaces"], [61, "description-of-controller-s-interfaces"], [62, "description-of-controller-s-interfaces"], [64, "description-of-controller-s-interfaces"], [69, "description-of-controller-s-interfaces"]], "Details about parameters": [[59, "details-about-parameters"]], "Determinism": [[13, "determinism"]], "Development Organisation and Communication": [[76, "development-organisation-and-communication"]], "Diagrams": [[10, "diagrams"]], "DiffBot": [[35, "diffbot"]], "Differences to ros_control (ROS 1)": [[6, "differences-to-ros-control-ros-1"]], "Different update rates for Hardware Components": [[19, "different-update-rates-for-hardware-components"]], "Differential Drive Robot": [[49, "differential-drive-robot"]], "Documentation Usage": [[2, "documentation-usage"]], "Double-Traction Axle": [[49, "double-traction-axle"]], "End-effectors": [[75, "end-effectors"]], "Example 10: Industrial robot with GPIO interfaces": [[29, "example-10-industrial-robot-with-gpio-interfaces"]], "Example 12: Controller chaining with RRBot": [[31, "example-12-controller-chaining-with-rrbot"]], "Example 13: Multi-robot system with lifecycle management": [[32, "example-13-multi-robot-system-with-lifecycle-management"]], "Example 14: Modular robot with actuators not providing states": [[33, "example-14-modular-robot-with-actuators-not-providing-states"]], "Example 15: Using multiple controller managers": [[34, "example-15-using-multiple-controller-managers"]], "Example 1: RRBot": [[28, "example-1-rrbot"]], "Example 3: Robots with multiple interfaces": [[36, "example-3-robots-with-multiple-interfaces"]], "Example 4: Industrial robot with integrated sensor": [[37, "example-4-industrial-robot-with-integrated-sensor"]], "Example 5: Industrial robot with externally connected sensor": [[38, "example-5-industrial-robot-with-externally-connected-sensor"]], "Example 6: Modular Robots with separate communication to each actuator": [[39, "example-6-modular-robots-with-separate-communication-to-each-actuator"]], "Example 7: Full tutorial with a 6DOF robot": [[40, "example-7-full-tutorial-with-a-6dof-robot"]], "Example 8: Industrial Robots with an exposed transmission interface": [[41, "example-8-industrial-robots-with-an-exposed-transmission-interface"]], "Example 9: Simulation with RRBot": [[42, "example-9-simulation-with-rrbot"]], "Examples": [[18, "examples"], [19, "examples"], [21, "examples"], [26, "examples"]], "Examples Overview": [[26, "examples-overview"]], "Execution logic of the controller": [[62, "execution-logic-of-the-controller"], [64, "execution-logic-of-the-controller"], [69, "execution-logic-of-the-controller"]], "Feature-parity for controllers from ROS1": [[8, "feature-parity-for-controllers-from-ros1"]], "Feedback": [[46, "feedback"]], "Files used for this demo": [[37, "files-used-for-this-demo"]], "Files used for this demos": [[28, "files-used-for-this-demos"], [29, "files-used-for-this-demos"], [30, "files-used-for-this-demos"], [31, "files-used-for-this-demos"], [32, "files-used-for-this-demos"], [33, "files-used-for-this-demos"], [35, "files-used-for-this-demos"], [36, "files-used-for-this-demos"], [38, "files-used-for-this-demos"], [39, "files-used-for-this-demos"], [41, "files-used-for-this-demos"], [42, "files-used-for-this-demos"]], "Force Torque Sensor Broadcaster": [[53, "force-torque-sensor-broadcaster"]], "Further information": [[61, "further-information"]], "GPIOs": [[21, "gpios"]], "General": [[17, "general"]], "Generic System": [[23, "generic-system"]], "Geometry": [[40, "geometry"]], "Getting Started": [[4, "getting-started"]], "Goals": [[26, "goals"]], "Gripper": [[3, "gripper"], [5, "gripper"]], "Gripper Action Controller": [[56, "gripper-action-controller"]], "Guidelines and Best Practices": [[15, "guidelines-and-best-practices"], [20, "guidelines-and-best-practices"], [47, "guidelines-and-best-practices"]], "Handling Multiple Controller Managers": [[13, "handling-multiple-controller-managers"]], "Handling of errors that happen during read() and write() calls": [[20, "handling-of-errors-that-happen-during-read-and-write-calls"]], "Hardware Components": [[4, "hardware-components"], [20, "hardware-components"]], "Hardware Description in URDF": [[4, "hardware-description-in-urdf"]], "Hardware Groups": [[21, "hardware-groups"]], "Hardware Interfaces": [[6, "hardware-interfaces"]], "Hardware Structures - classes": [[6, "hardware-structures-classes"]], "Hardware and Controller Errors": [[13, "hardware-and-controller-errors"]], "Hardware and interfaces": [[32, "hardware-and-interfaces"]], "Hardware interface type": [[54, "hardware-interface-type"], [58, "hardware-interface-type"]], "Hardware interface types": [[61, "hardware-interface-types"]], "Helper scripts": [[13, "helper-scripts"]], "Hosted by ros-controls": [[74, "hosted-by-ros-controls"]], "How-To": [[14, "how-to"]], "IMU Sensor Broadcaster": [[57, "imu-sensor-broadcaster"]], "Images": [[10, "images"]], "Implementation": [[12, "implementation"]], "Inner Resource Management": [[12, "inner-resource-management"]], "Installation": [[4, "installation"], [26, "installation"]], "Interpolation Method none": [[60, "interpolation-method-none"]], "Interpolation Method spline": [[60, "interpolation-method-spline"]], "Iron to Jazzy": [[16, "iron-to-jazzy"], [17, "iron-to-jazzy"]], "Joint Kinematics for ros2_control": [[22, "joint-kinematics-for-ros2-control"]], "Joints": [[21, "joints"]], "Launching controller_manager with ros2_control_node": [[13, "launching-controller-manager-with-ros2-control-node"]], "Launching the example": [[40, "launching-the-example"]], "List of parameters": [[56, "list-of-parameters"], [57, "list-of-parameters"], [58, "list-of-parameters"], [59, "list-of-parameters"], [64, "list-of-parameters"], [65, "list-of-parameters"], [67, "list-of-parameters"]], "Local installation": [[26, "local-installation"]], "Maintainers": [[0, "maintainers"]], "Migration Guide to ros2_control": [[6, "migration-guide-to-ros2-control"]], "Migration Guides": [[7, "migration-guides"]], "Migration Guides: Iron to Jazzy": [[48, "migration-guides-iron-to-jazzy"]], "Migration of Command-/StateInterfaces": [[16, "migration-of-command-stateinterfaces"]], "Migration of unlisted Command-/StateInterfaces not defined in ros2_control XML-tag": [[16, "migration-of-unlisted-command-stateinterfaces-not-defined-in-ros2-control-xml-tag"]], "Mission-Control for ros2_control": [[8, "mission-control-for-ros2-control"]], "Mobile robots": [[3, "mobile-robots"], [5, "mobile-robots"]], "Mock Components": [[23, "mock-components"]], "Modifying or building your own": [[3, "modifying-or-building-your-own"], [5, "modifying-or-building-your-own"]], "Motivation, Purpose and Use": [[12, "motivation-purpose-and-use"]], "Multiple Namespaces": [[3, "multiple-namespaces"]], "Nomenclature": [[12, "nomenclature"], [22, "nomenclature"]], "Non robot-devices": [[75, "non-robot-devices"]], "Nonholonomic Wheeled Mobile Robots": [[49, "nonholonomic-wheeled-mobile-robots"]], "Official (supported by robot manufacturer)": [[75, "official-supported-by-robot-manufacturer"]], "Omnidirectional Wheeled Mobile Robots": [[49, "omnidirectional-wheeled-mobile-robots"]], "Other features": [[46, "other-features"], [61, "other-features"], [70, 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"per-interface-parameters"]], "Per-Package API Documentation": [[1, "per-package-api-documentation"]], "Plugin description file (controller)": [[40, "plugin-description-file-controller"]], "Plugin description file (hardware)": [[40, "plugin-description-file-hardware"]], "Pose Broadcaster": [[65, "pose-broadcaster"]], "Preemption policy 1": [[61, "preemption-policy"]], "Presentations": [[10, "presentations"]], "Project Ideas for GSoC 2024": [[8, "project-ideas-for-gsoc-2024"]], "Publishers": [[46, "publishers"], [61, "publishers"], [62, "publishers"], [64, "publishers"], [69, "publishers"]], "Pull Requests": [[2, "pull-requests"]], "Quick Hints": [[26, "quick-hints"]], "ROS 2 Interfaces": [[46, "ros-2-interfaces"], [70, "ros-2-interfaces"]], "ROS 2 interface of the controller": [[44, "ros-2-interface-of-the-controller"], [52, "ros-2-interface-of-the-controller"], [54, "ros-2-interface-of-the-controller"], [66, "ros-2-interface-of-the-controller"], [72, 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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 robot", "Example 8: Industrial Robots with an exposed transmission interface", "Example 9: Simulation with RRBot", "ackermann_steering_controller", "Admittance Controller", "bicycle_steering_controller", "diff_drive_controller", "ros2_controllers", "Migration Guides: Iron to Jazzy", "Wheeled Mobile Robot Kinematics", "Release Notes: Iron to Jazzy", "Writing a new controller", "effort_controllers", "Force Torque Sensor Broadcaster", "forward_command_controller", "gpio_controllers", "Gripper Action Controller", "IMU Sensor Broadcaster", "joint_state_broadcaster", "Details about parameters", "Trajectory Representation", "joint_trajectory_controller", "mecanum_drive_controller", "Parallel Gripper Action Controller", "PID Controller", "Pose Broadcaster", "position_controllers", "Range Sensor 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