Built on 2024-02-23 at 05:31 GMT
+Built on 2024-02-24 at 05:31 GMT
diff --git a/foxy/searchindex.js b/foxy/searchindex.js index 6befb1b722..234e125991 100644 --- a/foxy/searchindex.js +++ b/foxy/searchindex.js @@ -1 +1 @@ -Search.setIndex({"docnames": ["doc/acknowledgements/acknowledgements", "doc/contributing/contributing", "doc/differences_to_ros1/differences_to_ros1", "doc/getting_started/getting_started", "doc/project_ideas", "doc/resources/resources", "doc/ros2_control/controller_manager/doc/userdoc", "doc/ros2_control/doc/index", "doc/ros2_control/hardware_interface/doc/fake_components_userdoc", "doc/ros2_control/ros2controlcli/doc/userdoc", "doc/ros2_control_demos/doc/index", "doc/ros2_controllers/diff_drive_controller/doc/userdoc", "doc/ros2_controllers/doc/controllers_index", "doc/ros2_controllers/doc/writing_new_controller", "doc/ros2_controllers/effort_controllers/doc/userdoc", "doc/ros2_controllers/force_torque_sensor_broadcaster/doc/userdoc", "doc/ros2_controllers/forward_command_controller/doc/userdoc", 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"API Documentation": [[7, "api-documentation"]], "Core functionalities": [[7, "core-functionalities"]], "Features": [[7, "features"]], "Concepts": [[7, "concepts"]], "Fake Components": [[8, "fake-components"]], "Generic System": [[8, "generic-system"]], "Parameters": [[8, "parameters"], [16, "parameters"], [18, "parameters"], [19, "parameters"]], "Per-joint Parameters": [[8, "per-joint-parameters"]], "Handling of errors that happen during read() and write() calls": [[9, "handling-of-errors-that-happen-during-read-and-write-calls"]], "Migration from Foxy to Galactic": [[9, "migration-from-foxy-to-galactic"]], "Command Line Interface": [[10, "command-line-interface"]], "list_controllers": [[10, "list-controllers"]], "list_controller_types": [[10, "list-controller-types"]], "list_hardware_interfaces": [[10, "list-hardware-interfaces"]], "load_controller": [[10, "load-controller"]], "reload_controller_libraries": [[10, "reload-controller-libraries"]], "set_controller_state": [[10, 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controller": [[14, "writing-a-new-controller"]], "Useful External References": [[14, "useful-external-references"]], "effort_controllers": [[15, "effort-controllers"]], "Force Torque Sensor Broadcaster": [[16, "force-torque-sensor-broadcaster"]], "forward_command_controller": [[17, "forward-command-controller"]], "IMU Sensor Broadcaster": [[18, "imu-sensor-broadcaster"]], "joint_state_broadcaster": [[19, "joint-state-broadcaster"]], "Commands": [[19, "commands"]], "joint_trajectory_controller": [[20, "joint-trajectory-controller"]], "Trajectory representation": [[20, "trajectory-representation"]], "Using Joint Trajectory Controller(s)": [[20, "using-joint-trajectory-controller-s"]], "Details about parameters": [[20, "details-about-parameters"]], "ROS2 interface of the controller": [[20, "ros2-interface-of-the-controller"]], "Specialized versions of JointTrajectoryController (TBD in \u2026)": [[20, "specialized-versions-of-jointtrajectorycontroller-tbd-in"]], "position_controllers": 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50, 51], "next": [1, 19, 29, 45], "sync": 1, "abl": 1, "potenti": [1, 37, 44], "mid": 1, "power": [1, 3, 5, 7, 15], "plausibl": 1, "analyt": 1, "robothw": 2, "rigid": 2, "ani": [2, 4, 7, 8, 9, 12, 13, 17, 22, 29, 37, 44, 46], "imposs": 2, "extend": [2, 4, 6, 8, 15, 37], "exist": [2, 4, 6, 8, 9, 12, 13, 15, 19, 21, 23, 24, 25, 26, 27, 28, 29, 30, 33, 37, 46], "addit": [2, 3, 5, 8, 17, 20, 24, 29], "sensor": [2, 4, 6, 12, 14, 15, 17, 23, 28, 29, 33, 36, 55], "actuat": [2, 4, 6, 12, 13, 14, 15, 17, 22], "tool": [2, 3, 5, 6, 7, 29, 33], "without": [2, 3, 4, 5, 7, 9, 14, 15, 17, 22, 31, 37, 44, 45], "combinedrobothardwar": 2, "drawback": [2, 56], "solut": [2, 7], "optim": [2, 9], "combin": [2, 8, 13, 14, 17, 25, 43, 45, 46], "extern": [2, 4, 6, 8, 14, 17, 33], "defin": [2, 3, 5, 6, 9, 14, 15, 17, 29, 33, 37, 39, 42, 43, 44, 45, 46, 48, 50], "system": [2, 3, 4, 5, 6, 7, 11, 12, 13, 15, 16, 17, 19, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 44, 46, 54, 55, 56], "composit": [2, 7], "basic": [2, 3, 4, 5, 6, 7, 15, 17, 24, 37], "physic": [2, 4, 12, 13, 14], "cell": [2, 39], "surround": 2, "describ": [2, 4, 8, 13, 17, 19, 25, 29, 31, 35, 45], "multi": [2, 4, 6, 7, 17, 25], "gripper": [2, 3, 4, 5, 7, 13, 14, 36], "out": [2, 3, 5, 9, 29, 35], "box": [2, 17, 19, 21, 24, 25, 26, 27, 30, 31], "allow": [2, 3, 4, 5, 17, 29, 41, 44, 45, 46, 49], "joint": [2, 4, 7, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 40, 41, 43, 44, 45, 47, 50, 52, 53, 56], "posit": [2, 3, 4, 5, 7, 9, 13, 16, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 33, 35, 36, 38, 43, 44, 45, 46, 47, 50, 53], "veloc": [2, 3, 4, 5, 7, 8, 17, 21, 23, 24, 25, 29, 33, 34, 35, 36, 41, 42, 43, 44, 45, 46, 47, 50, 53], "effort": [2, 3, 5, 17, 29, 36, 38, 41, 43, 44, 46], "hard": [2, 9], "data": [2, 4, 6, 14, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 35, 36, 43, 45], "approach": [2, 8, 11], "doe": [2, 8, 9, 15, 19, 21, 23, 24, 25, 26, 27, 28, 29, 30, 37, 45, 46], "enforc": [2, 25, 29], "string": [2, 9, 14, 17, 33, 35, 37, 39, 40, 41, 42, 43, 44, 48, 50], "ensur": [2, 7, 9, 29, 45], "constant": [2, 17], "hardware_interfac": [2, 3, 4, 5, 11, 12, 14, 15, 17, 23, 26, 27, 28, 29, 33, 35, 36, 37], "In": [2, 3, 4, 5, 6, 7, 8, 11, 15, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 36, 37, 43, 45, 50], "had": 2, "itself": [2, 8], "took": 2, "care": [2, 6, 9, 15, 25, 37, 46], "regist": [2, 3, 5], "resourc": [2, 3, 5, 15, 25], "conflict": [2, 4, 6], "resourcemanag": [2, 8], "take": [2, 6, 8, 15, 22, 25, 35, 37, 43, 45], "state": [2, 3, 4, 5, 6, 7, 9, 11, 12, 13, 14, 15, 16, 17, 19, 20, 21, 22, 24, 25, 26, 27, 28, 29, 30, 31, 36, 37, 39, 43, 44], "avail": [2, 4, 7, 16, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 37, 43, 46], "enabl": [2, 4, 6, 7, 12, 15, 16, 17, 24, 33, 35, 39, 50], "anymor": 2, "controllermanag": [2, 9], "implement": [2, 3, 4, 5, 6, 7, 9, 11, 13, 14, 15, 17, 19, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 32, 33, 34, 35, 37, 40, 45, 46, 50, 51, 52, 56], "systeminterfac": [2, 3, 5, 11, 14, 26, 29], "granular": 2, "sensorinterfac": [2, 23, 27], "actuatorinterfac": [2, 23, 28], "abov": [2, 19, 20, 22, 23, 24, 25, 26, 27, 28, 30, 31, 36, 45], "choos": [2, 17, 50], "suitabl": [2, 7], "strategi": [2, 17, 45], "decid": [2, 11], "which": [2, 3, 4, 5, 6, 7, 9, 11, 15, 16, 17, 19, 21, 24, 25, 26, 27, 28, 29, 30, 31, 33, 35, 37, 39, 42, 43, 44, 45, 46, 48, 50, 51], "case": [2, 3, 5, 6, 7, 8, 17, 22, 29, 35, 37, 43, 45, 46, 56], "mayb": [2, 8], "sens": [2, 4, 36, 39], "multipl": [2, 4, 7, 8, 13, 15, 17, 35, 43], "constructor": [2, 15, 29, 37], "initi": [2, 15, 29, 37, 45], "variabl": [2, 11, 15, 29, 37, 44], "need": [2, 3, 4, 5, 6, 7, 8, 13, 15, 17, 19, 21, 23, 24, 25, 26, 27, 28, 29, 30, 33, 37, 45], "commun": [2, 4, 6, 7, 11, 15, 17, 19, 21, 23, 24, 25, 26, 27, 29, 30], "default": [2, 4, 8, 9, 14, 21, 25, 32, 33, 34, 35, 39, 40, 41, 42, 43, 44, 45, 46, 48, 50, 52], "configur": [2, 3, 4, 5, 6, 7, 8, 9, 12, 14, 16, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 37, 43, 44, 45, 46, 50], "paramet": [2, 3, 5, 7, 11, 15, 17, 19, 24, 29, 36, 37, 46], "pars": [2, 3, 5, 9, 10, 13], "urdf": [2, 7, 9, 11, 13, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 30, 31, 33], "snippet": 2, "hardwareinfo": [2, 11, 29], "here": [2, 10, 15, 29, 37, 38, 46, 47, 53], "cross": [2, 43], "valu": [2, 4, 6, 11, 13, 14, 15, 17, 19, 20, 22, 24, 26, 27, 29, 31, 33, 35, 37, 39, 42, 43, 44, 46, 48, 50], "export_": 2, "_interfac": [2, 15], "joint_a2": 2, "extract": [2, 35, 51], "sensibl": 2, "stop": [2, 7, 8, 9, 12, 16, 19, 24, 25, 29, 35, 44, 51], "usual": [2, 4, 9, 14, 15, 29, 33, 37], "includ": [2, 3, 5, 6, 12, 15, 16, 21, 29, 33, 37, 46, 55], "command": [2, 3, 4, 5, 6, 7, 9, 10, 13, 14, 15, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 34, 35, 36, 37, 38, 40, 41, 44, 45, 47, 49, 52, 53, 56], "safe": [2, 29, 35, 37, 46, 51], "interrupt": [2, 9], "stream": [2, 7], "write": [2, 4, 7, 8, 9, 10, 11, 22, 23, 24, 28, 33, 36], "exchang": [2, 6, 19, 21, 23, 24, 25, 26, 27, 28, 30, 56], "equival": [2, 29], "forget": [2, 4, 17, 46], "pluginlib_export_class": [2, 15, 17, 29, 37], "macro": [2, 4, 11, 15, 17, 29, 37], "end": [2, 4, 12, 15, 29, 33, 37, 44], "cpp": [2, 15, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 37], "file": [2, 3, 4, 5, 6, 7, 9, 11, 14, 15, 17, 33, 35, 37, 38, 39, 46, 47, 53], "creat": [2, 3, 4, 5, 7, 9, 14, 15, 17, 21, 29, 37], "xml": [2, 3, 5, 11, 12, 15, 29, 37], "librari": [2, 4, 15, 16, 21, 32, 34, 36, 37, 50, 52], "pluginlib": [2, 3, 4, 5, 9, 15, 29, 37], "exampl": [2, 3, 4, 5, 6, 7, 8, 9, 14, 16, 21, 24, 33, 35, 38, 39, 46, 47, 53, 56], "rrbotsystempositiononlyhardwar": [2, 4, 13, 16, 19, 22, 27], "excel": 2, "jointtrajectorycontrol": [2, 3, 5, 16, 19, 33, 46], "real": [2, 6, 7, 9, 14, 24, 37, 43, 44, 56], "critic": [2, 6], "mark": [2, 22], "controllerinterfac": [2, 4, 8, 16, 29, 37], "member": [2, 15, 29, 37, 45], "init": 2, "call": [2, 3, 4, 5, 8, 11, 15, 24, 29, 37], "lifecycl": [2, 4, 7, 9, 12, 15, 29], "declar": [2, 11, 15, 29, 37], "state_interface_configur": [2, 29, 37], "command_interface_configur": [2, 29, 37], "design": [2, 4, 6, 7, 8, 21, 29, 56], "updat": [2, 4, 8, 9, 10, 12, 17, 21, 29, 33, 37, 46, 50], "manag": [2, 3, 5, 6, 7, 10, 12, 15, 16, 17, 29, 37, 46, 56], "option": [2, 3, 5, 9, 12, 14, 15, 16, 19, 25, 33, 35, 37, 39, 43, 46, 50], "on_configur": [2, 15, 29, 37], "on_activ": [2, 11, 12, 15, 29, 37], "on_deactiv": [2, 12, 15, 29, 37], "deactiv": [2, 4, 16, 19, 44], "final": [2, 7, 12, 29], "joint_trajectory_plugin": 2, "integr": [3, 4, 5, 6, 7, 14, 17, 22, 24, 29, 44, 45, 46, 56], "architectur": [3, 5, 6, 7], "gazebo": [3, 5, 6, 17, 19, 31, 54], "classic": [3, 17, 31, 54], "instanti": [3, 5, 9], "connect": [3, 4, 5, 14, 17, 26, 29], "model": [3, 5, 19, 21, 29], "cd": [3, 4, 5, 17, 29], "docker": [3, 5, 18, 19, 21, 22, 23, 24, 25, 26, 27, 28, 30, 31], "gui": [3, 5, 17, 19, 22, 23, 25, 26, 27, 28, 30, 31, 49], "properli": [3, 5, 8, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31], "rm": [3, 4, 5, 17, 19, 31], "net": [3, 5, 7, 17, 19, 31], "host": [3, 5, 17, 19, 31, 55], "ros2": [3, 4, 5, 7, 9, 15, 16, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 37], "launch": [3, 4, 5, 9, 14, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 30, 31], "cart_example_posit": [3, 5], "py": [3, 5, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31], "fals": [3, 5, 11, 14, 17, 19, 21, 31, 33, 35, 41, 43, 44, 46, 50], "machin": [3, 4, 5, 6, 17, 31], "client": [3, 5, 31, 46], "gzclient": [3, 31], "rocker": [3, 5], "go": [3, 5, 7, 9, 15, 29, 37], "imag": [3, 5, 9, 31], "inject": [3, 5, 7], "nvidia": [3, 5], "And": 3, "user": [3, 5, 6, 9, 17, 29, 45], "id": [3, 5, 16, 19, 21, 23, 24, 25, 26, 27, 28, 30, 33, 35], "specif": [3, 5, 6, 8, 9, 11, 12, 13, 29, 31, 40, 43, 45, 46], "cleaner": [3, 5], "mount": [3, 5], "permiss": [3, 5, 9], "instal": [3, 5, 9, 15, 18, 19, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 37], "instruct": [3, 5, 24, 29, 31], "x11": [3, 5], "latest": [3, 4, 5], "move": [3, 5, 17, 19, 21, 22, 23, 24, 25, 26, 27, 28, 30, 31, 35, 41], "cart": [3, 5], "rail": [3, 5], "exec": [3, 5, 19], "bash": [3, 4, 5, 15, 17, 19, 29, 37], "home": [3, 5], "ros2_w": [3, 4, 5, 17], "example_posit": [3, 5], "element": [3, 5, 29, 33, 44], "access": [3, 4, 5, 7, 9, 14, 19, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 37, 43], "interfac": [3, 5, 6, 7, 8, 9, 10, 12, 14, 15, 17, 19, 21, 22, 23, 24, 26, 27, 28, 31, 32, 34, 36, 37, 39, 42, 44, 45, 48, 52, 54, 55, 56], "gazebosystem": 3, "hardwar": [3, 5, 7, 8, 10, 14, 16, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 30, 31, 35, 36, 37, 44, 51, 56], "slider_to_cart": [3, 5, 38, 47, 53], "command_interfac": [3, 4, 5, 13, 22, 29, 33, 44, 46], "param": [3, 4, 5, 9, 11, 13, 14, 24, 29], "min": [3, 4, 5, 13, 29], "1000": [3, 5, 29], "state_interfac": [3, 4, 5, 13, 29, 33, 44, 46], "initial_valu": [3, 5, 29], "mimick": [3, 5, 14], "manual": [3, 4, 5, 6, 9, 15, 17, 19, 25, 26, 27, 28, 30, 31, 37, 56], "multipli": [3, 5, 14], "definit": [3, 4, 5, 9, 15, 29, 33, 35, 36, 37, 39, 41, 42, 43, 44, 48], "left_finger_joint": [3, 5], "prismat": [3, 5], "right_finger_joint": [3, 5], "axi": [3, 5, 6, 29, 32, 34, 35, 39, 52], "xyz": [3, 5, 29], "rpy": [3, 5, 29], "1415926535": [3, 5], "parent": [3, 5, 15, 29, 35, 37], "link": [3, 4, 5, 7, 8, 12, 29, 33, 35, 36], "base": [3, 4, 5, 7, 12, 15, 16, 17, 21, 23, 24, 28, 29, 33, 35, 37, 40, 50, 51, 54, 55], "child": [3, 5, 13, 29, 35], "finger_left": [3, 5], "lower": [3, 5, 29], "upper": [3, 5, 29], "actual": [3, 5, 8, 35], "load": [3, 4, 5, 9, 15, 16, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 33, 37], "appropri": [3, 5, 6, 45], "By": [3, 5, 9, 21, 29, 43, 45], "though": [3, 5, 21, 22], "extens": [3, 5], "via": [3, 4, 5, 17, 19, 26, 27, 29, 31, 46, 55], "between": [3, 4, 5, 6, 12, 13, 17, 29, 32, 34, 35, 43, 44, 45, 46, 52], "filenam": [3, 5, 29], "libgazebo_ros2_control": 3, "so": [3, 4, 5, 8, 9, 15, 29, 33, 37, 46], "robot_param": [3, 5], "robot_descript": [3, 5, 9, 19, 29, 33], "robot_param_nod": [3, 5], "robot_state_publish": [3, 5, 21, 43], "config": [3, 5, 17], "cart_control": [3, 5], "yaml": [3, 4, 5, 6, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 46], "locat": [3, 29, 33, 35, 39, 41, 42, 43, 44, 48], "server": [3, 41, 46], "node": [3, 4, 5, 9, 11, 12, 14, 16, 19, 21, 23, 24, 25, 26, 27, 28, 29, 30, 31, 37], "attempt": [3, 5, 9, 46], "get": [3, 5, 7, 8, 9, 11, 12, 15, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 45, 56], "most": [3, 5, 6, 15, 17, 21, 29, 37], "least": [3, 5, 13, 15, 37, 46], "jointstateinterfac": [3, 5], "effortjointinterfac": [3, 5], "velocityjointinterfac": [3, 5], "complex": [3, 4, 5, 6, 7, 8], "mechan": [3, 5, 8, 46], "nonlinear": [3, 5], "spring": [3, 5], "linkag": [3, 5, 19, 22, 30], "etc": [3, 5, 9, 25, 29, 33, 56], "These": [3, 5, 17, 29, 35, 41], "inherit": [3, 5, 9, 29], "gazebosysteminterfac": 3, "level": [3, 5, 6, 7, 9, 22, 23, 28, 38, 45, 47, 53], "properti": [3, 5, 29], "respect": [3, 5, 6, 7, 44, 45, 46], "sub": [3, 5, 21], "class": [3, 4, 5, 7, 9, 12, 15, 16, 29, 37, 40, 45], "specifi": [3, 5, 9, 15, 17, 29, 33, 37, 44, 45, 46], "insid": [3, 5, 14, 17, 19], "joint_state_broadcast": [3, 5, 13, 16, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 30, 31], "publish": [3, 5, 6, 8, 13, 17, 20, 21, 29, 33, 36, 39, 42, 43, 44, 45, 48, 51, 56], "stateinterfac": [3, 5, 29], "topic": [3, 5, 6, 7, 8, 13, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 30, 31, 35, 36, 46, 54], "sensor_msg": [3, 5, 42, 48], "msg": [3, 5, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 30, 31, 33, 35, 38, 39, 40, 42, 45, 46, 47, 48, 50, 53], "jointstat": [3, 5], "joint_trajectory_control": [3, 5, 6, 16, 19, 36, 44, 49], "action": [3, 5, 8, 44], "follow_joint_trajectori": [3, 5, 46], "control_msg": [3, 5, 33, 44, 46, 50, 56], "followjointtrajectori": [3, 5, 44, 46], "controller_manag": [3, 4, 5, 6, 9, 16, 25, 37, 38, 46, 47, 53], "ros__paramet": [3, 5, 33, 35, 38, 39, 41, 42, 43, 44, 46, 47, 48, 53], "update_r": [3, 5, 9, 38, 47, 53], "100": [3, 4, 5, 11, 13, 38, 47, 53], "hz": [3, 5, 35, 38, 41, 47, 53], "jointstatebroadcast": [3, 5, 16, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 30, 31], "interface_nam": [3, 20, 39, 40], "contain": [3, 17, 18, 19, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 33, 35, 38, 39, 41, 42, 43, 44, 45, 47, 48, 50, 53], "content": [3, 15, 29, 37], "There": [3, 4, 5, 9, 12, 15, 17, 21, 23, 26, 27, 28, 37, 45, 46], "meter": [3, 5, 29], "cart_example_veloc": [3, 5], "cart_example_effort": [3, 5], "diff_driv": 3, "tricycle_dr": 3, "world": [3, 5, 9, 14, 21, 29, 33], "example_veloc": [3, 5], "example_effort": [3, 5], "example_diff_dr": [3, 5], "example_tricycle_dr": [3, 5], "parallel": [3, 4, 5, 13, 14], "gripper_mimic_joint_exampl": [3, 5], "send": [3, 5, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 45, 46], "example_gripp": [3, 5], "humbl": [4, 17, 29], "want": [4, 8, 9, 17], "download": [4, 17], "repositori": [4, 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56], "figur": [4, 45], "cm": [4, 9], "abstract": [4, 7, 12, 29], "side": [4, 6, 7, 35], "entri": [4, 37], "point": [4, 29, 33, 37, 44, 45, 46, 56], "servic": [4, 6, 9, 12, 29], "executor": [4, 9], "custom": [4, 13, 14, 17, 23, 24, 39, 43, 44, 54], "howev": [4, 6, 8, 9, 17, 22, 29], "recommend": [4, 7, 15], "ros2_control_nod": [4, 25, 29], "assum": [4, 8, 33], "On": [4, 29], "hand": [4, 29, 55], "unload": [4, 9, 16], "match": [4, 17, 45], "report": [4, 6, 43, 56], "error": [4, 6, 9, 11, 15, 22, 25, 29, 33, 37, 43, 44, 46], "execut": [4, 11, 15, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 34, 37, 41, 44, 45, 46, 52], "loop": [4, 7, 9, 14, 19, 25, 26, 27, 28, 29, 30, 31, 37, 43, 44, 46, 50], "output": [4, 6, 7, 13, 16, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 33], "driver": [4, 7, 17, 29, 55], "reus": [4, 7, 8], "flexibl": 4, "motor": [4, 8, 55], "encod": [4, 29, 35], "theori": [4, 56], "compar": [4, 6, 7], "refer": [4, 8, 21, 22, 29, 55], "measur": [4, 14, 23, 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"power": [1, 3, 5, 7, 15], "plausibl": 1, "analyt": 1, "robothw": 2, "rigid": 2, "ani": [2, 4, 7, 8, 9, 12, 13, 17, 22, 29, 37, 44, 46], "imposs": 2, "extend": [2, 4, 6, 8, 15, 37], "exist": [2, 4, 6, 8, 9, 12, 13, 15, 19, 21, 23, 24, 25, 26, 27, 28, 29, 30, 33, 37, 46], "addit": [2, 3, 5, 8, 17, 20, 24, 29], "sensor": [2, 4, 6, 12, 14, 15, 17, 23, 28, 29, 33, 36, 55], "actuat": [2, 4, 6, 12, 13, 14, 15, 17, 22], "tool": [2, 3, 5, 6, 7, 29, 33], "without": [2, 3, 4, 5, 7, 9, 14, 15, 17, 22, 31, 37, 44, 45], "combinedrobothardwar": 2, "drawback": [2, 56], "solut": [2, 7], "optim": [2, 9], "combin": [2, 8, 13, 14, 17, 25, 43, 45, 46], "extern": [2, 4, 6, 8, 14, 17, 33], "defin": [2, 3, 5, 6, 9, 14, 15, 17, 29, 33, 37, 39, 42, 43, 44, 45, 46, 48, 50], "system": [2, 3, 4, 5, 6, 7, 11, 12, 13, 15, 16, 17, 19, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 44, 46, 54, 55, 56], "composit": [2, 7], "basic": [2, 3, 4, 5, 6, 7, 15, 17, 24, 37], "physic": [2, 4, 12, 13, 14], "cell": [2, 39], "surround": 2, "describ": [2, 4, 8, 13, 17, 19, 25, 29, 31, 35, 45], "multi": [2, 4, 6, 7, 17, 25], "gripper": [2, 3, 4, 5, 7, 13, 14, 36], "out": [2, 3, 5, 9, 29, 35], "box": [2, 17, 19, 21, 24, 25, 26, 27, 30, 31], "allow": [2, 3, 4, 5, 17, 29, 41, 44, 45, 46, 49], "joint": [2, 4, 7, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 40, 41, 43, 44, 45, 47, 50, 52, 53, 56], "posit": [2, 3, 4, 5, 7, 9, 13, 16, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 33, 35, 36, 38, 43, 44, 45, 46, 47, 50, 53], "veloc": [2, 3, 4, 5, 7, 8, 17, 21, 23, 24, 25, 29, 33, 34, 35, 36, 41, 42, 43, 44, 45, 46, 47, 50, 53], "effort": [2, 3, 5, 17, 29, 36, 38, 41, 43, 44, 46], "hard": [2, 9], "data": [2, 4, 6, 14, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 35, 36, 43, 45], "approach": [2, 8, 11], "doe": [2, 8, 9, 15, 19, 21, 23, 24, 25, 26, 27, 28, 29, 30, 37, 45, 46], "enforc": [2, 25, 29], "string": [2, 9, 14, 17, 33, 35, 37, 39, 40, 41, 42, 43, 44, 48, 50], "ensur": [2, 7, 9, 29, 45], "constant": [2, 17], "hardware_interfac": [2, 3, 4, 5, 11, 12, 14, 15, 17, 23, 26, 27, 28, 29, 33, 35, 36, 37], "In": [2, 3, 4, 5, 6, 7, 8, 11, 15, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 36, 37, 43, 45, 50], "had": 2, "itself": [2, 8], "took": 2, "care": [2, 6, 9, 15, 25, 37, 46], "regist": [2, 3, 5], "resourc": [2, 3, 5, 15, 25], "conflict": [2, 4, 6], "resourcemanag": [2, 8], "take": [2, 6, 8, 15, 22, 25, 35, 37, 43, 45], "state": [2, 3, 4, 5, 6, 7, 9, 11, 12, 13, 14, 15, 16, 17, 19, 20, 21, 22, 24, 25, 26, 27, 28, 29, 30, 31, 36, 37, 39, 43, 44], "avail": [2, 4, 7, 16, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 37, 43, 46], "enabl": [2, 4, 6, 7, 12, 15, 16, 17, 24, 33, 35, 39, 50], "anymor": 2, "controllermanag": [2, 9], "implement": [2, 3, 4, 5, 6, 7, 9, 11, 13, 14, 15, 17, 19, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 32, 33, 34, 35, 37, 40, 45, 46, 50, 51, 52, 56], "systeminterfac": [2, 3, 5, 11, 14, 26, 29], "granular": 2, "sensorinterfac": [2, 23, 27], "actuatorinterfac": [2, 23, 28], "abov": [2, 19, 20, 22, 23, 24, 25, 26, 27, 28, 30, 31, 36, 45], "choos": [2, 17, 50], "suitabl": [2, 7], "strategi": [2, 17, 45], "decid": [2, 11], "which": [2, 3, 4, 5, 6, 7, 9, 11, 15, 16, 17, 19, 21, 24, 25, 26, 27, 28, 29, 30, 31, 33, 35, 37, 39, 42, 43, 44, 45, 46, 48, 50, 51], "case": [2, 3, 5, 6, 7, 8, 17, 22, 29, 35, 37, 43, 45, 46, 56], "mayb": [2, 8], "sens": [2, 4, 36, 39], "multipl": [2, 4, 7, 8, 13, 15, 17, 35, 43], "constructor": [2, 15, 29, 37], "initi": [2, 15, 29, 37, 45], "variabl": [2, 11, 15, 29, 37, 44], "need": [2, 3, 4, 5, 6, 7, 8, 13, 15, 17, 19, 21, 23, 24, 25, 26, 27, 28, 29, 30, 33, 37, 45], "commun": [2, 4, 6, 7, 11, 15, 17, 19, 21, 23, 24, 25, 26, 27, 29, 30], "default": [2, 4, 8, 9, 14, 21, 25, 32, 33, 34, 35, 39, 40, 41, 42, 43, 44, 45, 46, 48, 50, 52], "configur": [2, 3, 4, 5, 6, 7, 8, 9, 12, 14, 16, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 37, 43, 44, 45, 46, 50], "paramet": [2, 3, 5, 7, 11, 15, 17, 19, 24, 29, 36, 37, 46], "pars": [2, 3, 5, 9, 10, 13], "urdf": [2, 7, 9, 11, 13, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 30, 31, 33], "snippet": 2, "hardwareinfo": [2, 11, 29], "here": [2, 10, 15, 29, 37, 38, 46, 47, 53], "cross": [2, 43], "valu": [2, 4, 6, 11, 13, 14, 15, 17, 19, 20, 22, 24, 26, 27, 29, 31, 33, 35, 37, 39, 42, 43, 44, 46, 48, 50], "export_": 2, "_interfac": [2, 15], "joint_a2": 2, "extract": [2, 35, 51], "sensibl": 2, "stop": [2, 7, 8, 9, 12, 16, 19, 24, 25, 29, 35, 44, 51], "usual": [2, 4, 9, 14, 15, 29, 33, 37], "includ": [2, 3, 5, 6, 12, 15, 16, 21, 29, 33, 37, 46, 55], "command": [2, 3, 4, 5, 6, 7, 9, 10, 13, 14, 15, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 34, 35, 36, 37, 38, 40, 41, 44, 45, 47, 49, 52, 53, 56], "safe": [2, 29, 35, 37, 46, 51], "interrupt": [2, 9], "stream": [2, 7], "write": [2, 4, 7, 8, 9, 10, 11, 22, 23, 24, 28, 33, 36], "exchang": [2, 6, 19, 21, 23, 24, 25, 26, 27, 28, 30, 56], "equival": [2, 29], "forget": [2, 4, 17, 46], "pluginlib_export_class": [2, 15, 17, 29, 37], "macro": [2, 4, 11, 15, 17, 29, 37], "end": [2, 4, 12, 15, 29, 33, 37, 44], "cpp": [2, 15, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 37], "file": [2, 3, 4, 5, 6, 7, 9, 11, 14, 15, 17, 33, 35, 37, 38, 39, 46, 47, 53], "creat": [2, 3, 4, 5, 7, 9, 14, 15, 17, 21, 29, 37], "xml": [2, 3, 5, 11, 12, 15, 29, 37], "librari": [2, 4, 15, 16, 21, 32, 34, 36, 37, 50, 52], "pluginlib": [2, 3, 4, 5, 9, 15, 29, 37], "exampl": [2, 3, 4, 5, 6, 7, 8, 9, 14, 16, 21, 24, 33, 35, 38, 39, 46, 47, 53, 56], "rrbotsystempositiononlyhardwar": [2, 4, 13, 16, 19, 22, 27], "excel": 2, "jointtrajectorycontrol": [2, 3, 5, 16, 19, 33, 46], "real": [2, 6, 7, 9, 14, 24, 37, 43, 44, 56], "critic": [2, 6], "mark": [2, 22], "controllerinterfac": [2, 4, 8, 16, 29, 37], "member": [2, 15, 29, 37, 45], "init": 2, "call": [2, 3, 4, 5, 8, 11, 15, 24, 29, 37], "lifecycl": [2, 4, 7, 9, 12, 15, 29], "declar": [2, 11, 15, 29, 37], "state_interface_configur": [2, 29, 37], "command_interface_configur": [2, 29, 37], "design": [2, 4, 6, 7, 8, 21, 29, 56], "updat": [2, 4, 8, 9, 10, 12, 17, 21, 29, 33, 37, 46, 50], "manag": [2, 3, 5, 6, 7, 10, 12, 15, 16, 17, 29, 37, 46, 56], "option": [2, 3, 5, 9, 12, 14, 15, 16, 19, 25, 33, 35, 37, 39, 43, 46, 50], "on_configur": [2, 15, 29, 37], "on_activ": [2, 11, 12, 15, 29, 37], "on_deactiv": [2, 12, 15, 29, 37], "deactiv": [2, 4, 16, 19, 44], "final": [2, 7, 12, 29], "joint_trajectory_plugin": 2, "integr": [3, 4, 5, 6, 7, 14, 17, 22, 24, 29, 44, 45, 46, 56], "architectur": [3, 5, 6, 7], "gazebo": [3, 5, 6, 17, 19, 31, 54], "classic": [3, 17, 31, 54], "instanti": [3, 5, 9], "connect": [3, 4, 5, 14, 17, 26, 29], "model": [3, 5, 19, 21, 29], "cd": [3, 4, 5, 17, 29], "docker": [3, 5, 18, 19, 21, 22, 23, 24, 25, 26, 27, 28, 30, 31], "gui": [3, 5, 17, 19, 22, 23, 25, 26, 27, 28, 30, 31, 49], "properli": [3, 5, 8, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31], "rm": [3, 4, 5, 17, 19, 31], "net": [3, 5, 7, 17, 19, 31], "host": [3, 5, 17, 19, 31, 55], "ros2": [3, 4, 5, 7, 9, 15, 16, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 37], "launch": [3, 4, 5, 9, 14, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 30, 31], "cart_example_posit": [3, 5], "py": [3, 5, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31], "fals": [3, 5, 11, 14, 17, 19, 21, 31, 33, 35, 41, 43, 44, 46, 50], "machin": [3, 4, 5, 6, 17, 31], "client": [3, 5, 31, 46], "gzclient": [3, 31], "rocker": [3, 5], "go": [3, 5, 7, 9, 15, 29, 37], "imag": [3, 5, 9, 31], "inject": [3, 5, 7], "nvidia": [3, 5], "And": 3, "user": [3, 5, 6, 9, 17, 29, 45], "id": [3, 5, 16, 19, 21, 23, 24, 25, 26, 27, 28, 30, 33, 35], "specif": [3, 5, 6, 8, 9, 11, 12, 13, 29, 31, 40, 43, 45, 46], "cleaner": [3, 5], "mount": [3, 5], "permiss": [3, 5, 9], "instal": [3, 5, 9, 15, 18, 19, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 37], "instruct": [3, 5, 24, 29, 31], "x11": [3, 5], "latest": [3, 4, 5], "move": [3, 5, 17, 19, 21, 22, 23, 24, 25, 26, 27, 28, 30, 31, 35, 41], "cart": [3, 5], "rail": [3, 5], "exec": [3, 5, 19], "bash": [3, 4, 5, 15, 17, 19, 29, 37], "home": [3, 5], "ros2_w": [3, 4, 5, 17], "example_posit": [3, 5], "element": [3, 5, 29, 33, 44], "access": [3, 4, 5, 7, 9, 14, 19, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 37, 43], "interfac": [3, 5, 6, 7, 8, 9, 10, 12, 14, 15, 17, 19, 21, 22, 23, 24, 26, 27, 28, 31, 32, 34, 36, 37, 39, 42, 44, 45, 48, 52, 54, 55, 56], "gazebosystem": 3, "hardwar": [3, 5, 7, 8, 10, 14, 16, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 30, 31, 35, 36, 37, 44, 51, 56], "slider_to_cart": [3, 5, 38, 47, 53], "command_interfac": [3, 4, 5, 13, 22, 29, 33, 44, 46], "param": [3, 4, 5, 9, 11, 13, 14, 24, 29], "min": [3, 4, 5, 13, 29], "1000": [3, 5, 29], "state_interfac": [3, 4, 5, 13, 29, 33, 44, 46], "initial_valu": [3, 5, 29], "mimick": [3, 5, 14], "manual": [3, 4, 5, 6, 9, 15, 17, 19, 25, 26, 27, 28, 30, 31, 37, 56], "multipli": [3, 5, 14], "definit": [3, 4, 5, 9, 15, 29, 33, 35, 36, 37, 39, 41, 42, 43, 44, 48], "left_finger_joint": [3, 5], "prismat": [3, 5], "right_finger_joint": [3, 5], "axi": [3, 5, 6, 29, 32, 34, 35, 39, 52], "xyz": [3, 5, 29], "rpy": [3, 5, 29], "1415926535": [3, 5], "parent": [3, 5, 15, 29, 35, 37], "link": [3, 4, 5, 7, 8, 12, 29, 33, 35, 36], "base": [3, 4, 5, 7, 12, 15, 16, 17, 21, 23, 24, 28, 29, 33, 35, 37, 40, 50, 51, 54, 55], "child": [3, 5, 13, 29, 35], "finger_left": [3, 5], "lower": [3, 5, 29], "upper": [3, 5, 29], "actual": [3, 5, 8, 35], "load": [3, 4, 5, 9, 15, 16, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 33, 37], "appropri": [3, 5, 6, 45], "By": [3, 5, 9, 21, 29, 43, 45], "though": [3, 5, 21, 22], "extens": [3, 5], "via": [3, 4, 5, 17, 19, 26, 27, 29, 31, 46, 55], "between": [3, 4, 5, 6, 12, 13, 17, 29, 32, 34, 35, 43, 44, 45, 46, 52], "filenam": [3, 5, 29], "libgazebo_ros2_control": 3, "so": [3, 4, 5, 8, 9, 15, 29, 33, 37, 46], "robot_param": [3, 5], "robot_descript": [3, 5, 9, 19, 29, 33], "robot_param_nod": [3, 5], "robot_state_publish": [3, 5, 21, 43], "config": [3, 5, 17], "cart_control": [3, 5], "yaml": [3, 4, 5, 6, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 46], "locat": [3, 29, 33, 35, 39, 41, 42, 43, 44, 48], "server": [3, 41, 46], "node": [3, 4, 5, 9, 11, 12, 14, 16, 19, 21, 23, 24, 25, 26, 27, 28, 29, 30, 31, 37], "attempt": [3, 5, 9, 46], "get": [3, 5, 7, 8, 9, 11, 12, 15, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 45, 56], "most": [3, 5, 6, 15, 17, 21, 29, 37], "least": [3, 5, 13, 15, 37, 46], "jointstateinterfac": [3, 5], "effortjointinterfac": [3, 5], "velocityjointinterfac": [3, 5], "complex": [3, 4, 5, 6, 7, 8], "mechan": [3, 5, 8, 46], "nonlinear": [3, 5], "spring": [3, 5], "linkag": [3, 5, 19, 22, 30], "etc": [3, 5, 9, 25, 29, 33, 56], "These": [3, 5, 17, 29, 35, 41], "inherit": [3, 5, 9, 29], "gazebosysteminterfac": 3, "level": [3, 5, 6, 7, 9, 22, 23, 28, 38, 45, 47, 53], "properti": [3, 5, 29], "respect": [3, 5, 6, 7, 44, 45, 46], "sub": [3, 5, 21], "class": [3, 4, 5, 7, 9, 12, 15, 16, 29, 37, 40, 45], "specifi": [3, 5, 9, 15, 17, 29, 33, 37, 44, 45, 46], "insid": [3, 5, 14, 17, 19], "joint_state_broadcast": [3, 5, 13, 16, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 30, 31], "publish": [3, 5, 6, 8, 13, 17, 20, 21, 29, 33, 36, 39, 42, 43, 44, 45, 48, 51, 56], "stateinterfac": [3, 5, 29], "topic": [3, 5, 6, 7, 8, 13, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 30, 31, 35, 36, 46, 54], "sensor_msg": [3, 5, 42, 48], "msg": [3, 5, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 30, 31, 33, 35, 38, 39, 40, 42, 45, 46, 47, 48, 50, 53], "jointstat": [3, 5], "joint_trajectory_control": [3, 5, 6, 16, 19, 36, 44, 49], "action": [3, 5, 8, 44], "follow_joint_trajectori": [3, 5, 46], "control_msg": [3, 5, 33, 44, 46, 50, 56], "followjointtrajectori": [3, 5, 44, 46], "controller_manag": [3, 4, 5, 6, 9, 16, 25, 37, 38, 46, 47, 53], "ros__paramet": [3, 5, 33, 35, 38, 39, 41, 42, 43, 44, 46, 47, 48, 53], "update_r": [3, 5, 9, 38, 47, 53], "100": 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"Determinism": [[9, "determinism"]], "Parameters": [[9, "parameters"], [14, "parameters"], [32, "parameters"], [33, "parameters"], [34, "parameters"], [35, "parameters"], [38, "parameters"], [39, "parameters"], [40, "parameters"], [41, "parameters"], [42, "parameters"], [43, "parameters"], [47, "parameters"], [48, "parameters"], [50, "parameters"], [52, "parameters"], [53, "parameters"]], "Helper scripts": [[9, "helper-scripts"]], "spawner": [[9, "spawner"]], "unspawner": [[9, "unspawner"]], "Using the Controller Manager in a Process": [[9, "using-the-controller-manager-in-a-process"]], "Concepts": [[9, "concepts"], [10, "concepts"]], "Restarting all controllers": [[9, "restarting-all-controllers"]], "Restarting hardware": [[9, "restarting-hardware"]], "ros2_control": [[10, "ros2-control"]], "API Documentation": [[10, "api-documentation"]], "Features": [[10, "features"]], "Different update rates for Hardware Components": [[11, "different-update-rates-for-hardware-components"]], "By counting loops": [[11, "by-counting-loops"]], "By measuring elapsed time": [[11, "by-measuring-elapsed-time"]], "Guidelines and Best Practices": [[12, "guidelines-and-best-practices"], [36, "guidelines-and-best-practices"]], "Handling of errors that happen during read() and write() calls": [[12, "handling-of-errors-that-happen-during-read-and-write-calls"]], "Migration from Foxy to newer versions": [[12, "migration-from-foxy-to-newer-versions"]], "ros2_control hardware interface types": [[13, "ros2-control-hardware-interface-types"]], "Joints": [[13, "joints"]], "Sensors": [[13, "sensors"]], "GPIOs": [[13, "gpios"]], "Examples": [[13, "examples"], [17, "examples"]], "Mock Components": [[14, "mock-components"]], "Generic System": [[14, "generic-system"]], "Per-joint Parameters": [[14, "per-joint-parameters"]], "Writing a Hardware Component": [[15, "writing-a-hardware-component"]], "Useful External References": [[15, "useful-external-references"], [37, "useful-external-references"]], "Command Line Interface": [[16, "command-line-interface"]], "list_controllers": [[16, "list-controllers"]], "list_controller_types": [[16, "list-controller-types"]], "list_hardware_components": [[16, "list-hardware-components"]], "list_hardware_interfaces": [[16, "list-hardware-interfaces"]], "load_controller": [[16, "load-controller"]], "reload_controller_libraries": [[16, "reload-controller-libraries"]], "set_controller_state": [[16, "set-controller-state"]], "switch_controllers": [[16, "switch-controllers"]], "unload_controller": [[16, "unload-controller"]], "view_controller_chains": [[16, "view-controller-chains"]], "Demos": [[17, "demos"]], "What you can find in this repository": [[17, "what-you-can-find-in-this-repository"]], "Goals": [[17, "goals"]], "Examples Overview": [[17, "examples-overview"]], "Local installation": [[17, "local-installation"]], "Build from debian packages": [[17, "build-from-debian-packages"]], "Build from source": [[17, "build-from-source"]], "Using Docker": [[17, "using-docker"]], "To view the robot": [[17, "to-view-the-robot"]], "To run the ros2_control demos": [[17, "to-run-the-ros2-control-demos"]], "Quick Hints": [[17, "quick-hints"]], "Example 1: RRBot": [[19, "example-1-rrbot"]], "Tutorial steps": [[19, "tutorial-steps"], [21, "tutorial-steps"], [22, "tutorial-steps"], [23, "tutorial-steps"], [24, "tutorial-steps"], [25, "tutorial-steps"], [26, "tutorial-steps"], [27, "tutorial-steps"], [28, "tutorial-steps"], [30, "tutorial-steps"], [31, "tutorial-steps"]], "Files used for this demos": [[19, "files-used-for-this-demos"], [20, "files-used-for-this-demos"], [21, "files-used-for-this-demos"], [22, "files-used-for-this-demos"], [23, "files-used-for-this-demos"], [24, "files-used-for-this-demos"], [25, "files-used-for-this-demos"], [27, "files-used-for-this-demos"], [28, "files-used-for-this-demos"], [30, "files-used-for-this-demos"], [31, "files-used-for-this-demos"]], "Controllers from this demo": [[19, "controllers-from-this-demo"], [20, "controllers-from-this-demo"], [21, "controllers-from-this-demo"], [22, "controllers-from-this-demo"], [23, "controllers-from-this-demo"], [24, "controllers-from-this-demo"], [25, "controllers-from-this-demo"], [26, "controllers-from-this-demo"], [27, "controllers-from-this-demo"], [28, "controllers-from-this-demo"], [30, "controllers-from-this-demo"], [31, "controllers-from-this-demo"]], "Example 10: Industrial robot with GPIO interfaces": [[20, "example-10-industrial-robot-with-gpio-interfaces"]], "CarlikeBot": [[21, "carlikebot"]], "Example 12: Controller chaining with RRBot": [[22, "example-12-controller-chaining-with-rrbot"]], "Example 14: Modular robot with actuators not providing states": [[23, "example-14-modular-robot-with-actuators-not-providing-states"]], "DiffBot": [[24, "diffbot"]], "Example 3: Robots with multiple interfaces": [[25, "example-3-robots-with-multiple-interfaces"]], "Example 4: Industrial robot with integrated sensor": [[26, "example-4-industrial-robot-with-integrated-sensor"]], "Files used for this demo": [[26, "files-used-for-this-demo"]], "Example 5: Industrial robot with externally connected sensor": [[27, "example-5-industrial-robot-with-externally-connected-sensor"]], "Example 6: Modular Robots with separate communication to each actuator": [[28, "example-6-modular-robots-with-separate-communication-to-each-actuator"]], "Example 7: Full tutorial with a 6DOF robot": [[29, "example-7-full-tutorial-with-a-6dof-robot"]], "ros2_control overview": [[29, "ros2-control-overview"]], "Writing a URDF": [[29, "writing-a-urdf"]], "Geometry": [[29, "geometry"]], "URDF file": [[29, "urdf-file"]], "Writing a hardware interface": [[29, "writing-a-hardware-interface"]], "Plugin description file (hardware)": [[29, "plugin-description-file-hardware"]], "CMake library (hardware)": [[29, "cmake-library-hardware"]], "Writing a controller": [[29, "writing-a-controller"]], "Plugin description file (controller)": [[29, "plugin-description-file-controller"]], "CMake library (controller)": [[29, "cmake-library-controller"]], "Launching the example": [[29, "launching-the-example"]], "Example 8: Industrial Robots with an exposed transmission interface": [[30, "example-8-industrial-robots-with-an-exposed-transmission-interface"]], "Example 9: Simulation with RRBot": [[31, "example-9-simulation-with-rrbot"]], "ackermann_steering_controller": [[32, "ackermann-steering-controller"]], "Admittance Controller": [[33, "admittance-controller"]], "ROS 2 interface of the controller": [[33, "ros-2-interface-of-the-controller"], [38, "ros-2-interface-of-the-controller"], [40, "ros-2-interface-of-the-controller"], [47, "ros-2-interface-of-the-controller"], [53, "ros-2-interface-of-the-controller"]], "Topics": [[33, "topics"], [38, "topics"], [40, "topics"], [47, "topics"], [53, "topics"]], "ros2_control interfaces": [[33, "ros2-control-interfaces"]], "References": [[33, "references"], [35, "references"], [46, "references"]], "States": [[33, "states"], [46, "states"], [50, "states"]], "Commands": [[33, "commands"], [43, "commands"], [46, "commands"], [50, "commands"]], "bicycle_steering_controller": [[34, "bicycle-steering-controller"]], "diff_drive_controller": [[35, "diff-drive-controller"]], "Other features": [[35, "other-features"], [46, "other-features"], [51, "other-features"]], "Description of controller\u2019s interfaces": [[35, "description-of-controller-s-interfaces"], [46, "description-of-controller-s-interfaces"], [50, "description-of-controller-s-interfaces"]], "Feedback": [[35, "feedback"]], "Output": [[35, "output"]], "ROS 2 Interfaces": [[35, "ros-2-interfaces"]], "Subscribers": [[35, "subscribers"], [50, "subscribers"]], "Publishers": [[35, "publishers"], [46, "publishers"], [50, "publishers"]], "ros2_controllers": [[36, "ros2-controllers"]], "Controllers for Mobile Robots": [[36, "controllers-for-mobile-robots"]], "Controllers for Manipulators and Other Robots": [[36, "controllers-for-manipulators-and-other-robots"]], "Broadcasters": [[36, "broadcasters"]], "Writing a new controller": [[37, "writing-a-new-controller"]], "effort_controllers": [[38, "effort-controllers"]], "effort_controllers/JointGroupEffortController": [[38, "effort-controllers-jointgroupeffortcontroller"]], "Force Torque Sensor Broadcaster": [[39, "force-torque-sensor-broadcaster"]], "forward_command_controller": [[40, "forward-command-controller"]], "Hardware interface type": [[40, "hardware-interface-type"], [43, "hardware-interface-type"]], "Gripper Action Controller": [[41, "gripper-action-controller"]], "List of parameters": [[41, "list-of-parameters"], [42, "list-of-parameters"], [43, "list-of-parameters"], [44, "list-of-parameters"], [48, "list-of-parameters"]], "An example parameter file": [[41, "an-example-parameter-file"], [42, "an-example-parameter-file"], [43, "an-example-parameter-file"], [44, "an-example-parameter-file"], [48, "an-example-parameter-file"]], "IMU Sensor Broadcaster": [[42, "imu-sensor-broadcaster"]], "joint_state_broadcaster": [[43, "joint-state-broadcaster"]], "Details about parameters": [[44, "details-about-parameters"]], "Trajectory Representation": [[45, "trajectory-representation"]], "Interpolation Method none": [[45, "interpolation-method-none"]], "Interpolation Method spline": [[45, "interpolation-method-spline"]], "Visualized Examples": [[45, "visualized-examples"]], "Trajectory Replacement": [[45, "trajectory-replacement"]], "joint_trajectory_controller": [[46, "joint-trajectory-controller"]], "Hardware interface types": [[46, "hardware-interface-types"]], "Using Joint Trajectory Controller(s)": [[46, "using-joint-trajectory-controller-s"]], "Preemption policy 1": [[46, "preemption-policy"]], "Actions 1": [[46, "actions"]], "Subscriber 1": [[46, "subscriber"]], "Services": [[46, "services"]], "Further information": [[46, "further-information"]], "position_controllers": [[47, "position-controllers"]], "position_controllers/JointGroupPositionController": [[47, "position-controllers-jointgrouppositioncontroller"]], "Range Sensor Broadcaster": [[48, "range-sensor-broadcaster"]], "rqt_joint_trajectory_controller": [[49, "rqt-joint-trajectory-controller"]], "steering_controllers_library": [[50, "steering-controllers-library"]], "Execution logic of the controller": [[50, "execution-logic-of-the-controller"]], "References (from a preceding controller)": [[50, "references-from-a-preceding-controller"]], "tricycle_controller": [[51, "tricycle-controller"]], "Velocity commands": [[51, "velocity-commands"]], "tricycle_steering_controller": [[52, "tricycle-steering-controller"]], "velocity_controllers": [[53, "velocity-controllers"]], "velocity_controllers/JointGroupVelocityController": [[53, "velocity-controllers-jointgroupvelocitycontroller"]], "Simulator Integrations": [[54, "simulator-integrations"]], "Hosted by ros-controls": [[54, "hosted-by-ros-controls"]], "Community": [[54, "community"]], "Supported Robots": [[55, "supported-robots"]], "Communication protocols": [[55, "communication-protocols"]], "End-effectors": [[55, "end-effectors"]], "Non robot-devices": [[55, "non-robot-devices"]], "Official (supported by robot manufacturer)": [[55, "official-supported-by-robot-manufacturer"]], "Unofficial (from the community)": [[55, "unofficial-from-the-community"]], "Welcome to the ros2_control documentation - Humble!": [[56, "welcome-to-the-ros2-control-documentation-humble"]], "ros2_control Repositories": [[56, "ros2-control-repositories"]], "Development Organisation and Communication": [[56, "development-organisation-and-communication"]]}, "indexentries": {}})
\ No newline at end of file
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36, 39, 44, 45, 46], "build": [1, 15, 29, 33, 37], "dai": 1, "ros_distro": [1, 4, 17, 19], "foxi": [1, 7, 15], "galact": [1, 12, 15], "releas": [1, 4, 7, 17, 29], "version": [1, 6, 11, 17, 46], "non": [1, 7, 22, 29, 39], "brake": 1, "distribut": [1, 17, 56], "three": [1, 2, 4, 12, 13, 17, 29, 37, 45, 52], "stage": [1, 8, 22], "current": [1, 6, 11, 12, 13, 15, 16, 45, 46, 50], "futur": [1, 7, 8, 45, 46], "compat": [1, 2, 7, 15, 17], "packag": [1, 2, 3, 5, 12, 15, 29, 32, 33, 34, 35, 37, 38, 39, 42, 46, 47, 48, 50, 52, 53, 56], "direct": [1, 2, 6, 15, 29, 37, 44], "local": [1, 3, 5, 18, 19, 21, 22, 23, 24, 25, 26, 27, 28, 30, 31, 43], "possibl": [1, 4, 6, 9, 13, 17, 19, 21, 23, 24, 25, 26, 27, 28, 30, 33, 37, 45], "core": [1, 10, 29], "immedi": [1, 9, 19, 22, 23, 25, 26, 27, 28, 29, 30, 31], "depend": [1, 4, 12, 13, 15, 17, 18, 19, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 36, 37, 45, 50], "fail": [1, 25, 29], "expect": [1, 6, 22, 29, 32, 34, 35, 46, 50, 52], "after": [1, 8, 9, 15, 17, 19, 29, 35, 37, 44, 45, 50, 51], "next": [1, 19, 29, 45], "sync": 1, "abl": 1, "potenti": [1, 37, 44], "mid": 1, "power": [1, 3, 5, 7, 15], "plausibl": 1, "analyt": 1, "robothw": 2, "rigid": 2, "ani": [2, 4, 7, 8, 9, 12, 13, 17, 22, 29, 37, 44, 46], "imposs": 2, "extend": [2, 4, 6, 8, 15, 37], "exist": [2, 4, 6, 8, 9, 12, 13, 15, 19, 21, 23, 24, 25, 26, 27, 28, 29, 30, 33, 37, 46], "addit": [2, 3, 5, 8, 17, 20, 24, 29], "sensor": [2, 4, 6, 12, 14, 15, 17, 23, 28, 29, 33, 36, 55], "actuat": [2, 4, 6, 12, 13, 14, 15, 17, 22], "tool": [2, 3, 5, 6, 7, 29, 33], "without": [2, 3, 4, 5, 7, 9, 14, 15, 17, 22, 31, 37, 44, 45], "combinedrobothardwar": 2, "drawback": [2, 56], "solut": [2, 7], "optim": [2, 9], "combin": [2, 8, 13, 14, 17, 25, 43, 45, 46], "extern": [2, 4, 6, 8, 14, 17, 33], "defin": [2, 3, 5, 6, 9, 14, 15, 17, 29, 33, 37, 39, 42, 43, 44, 45, 46, 48, 50], "system": [2, 3, 4, 5, 6, 7, 11, 12, 13, 15, 16, 17, 19, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 44, 46, 54, 55, 56], "composit": [2, 7], "basic": [2, 3, 4, 5, 6, 7, 15, 17, 24, 37], "physic": [2, 4, 12, 13, 14], "cell": [2, 39], "surround": 2, "describ": [2, 4, 8, 13, 17, 19, 25, 29, 31, 35, 45], "multi": [2, 4, 6, 7, 17, 25], "gripper": [2, 3, 4, 5, 7, 13, 14, 36], "out": [2, 3, 5, 9, 29, 35], "box": [2, 17, 19, 21, 24, 25, 26, 27, 30, 31], "allow": [2, 3, 4, 5, 17, 29, 41, 44, 45, 46, 49], "joint": [2, 4, 7, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 40, 41, 43, 44, 45, 47, 50, 52, 53, 56], "posit": [2, 3, 4, 5, 7, 9, 13, 16, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 33, 35, 36, 38, 43, 44, 45, 46, 47, 50, 53], "veloc": [2, 3, 4, 5, 7, 8, 17, 21, 23, 24, 25, 29, 33, 34, 35, 36, 41, 42, 43, 44, 45, 46, 47, 50, 53], "effort": [2, 3, 5, 17, 29, 36, 38, 41, 43, 44, 46], "hard": [2, 9], "data": [2, 4, 6, 14, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 35, 36, 43, 45], "approach": [2, 8, 11], "doe": [2, 8, 9, 15, 19, 21, 23, 24, 25, 26, 27, 28, 29, 30, 37, 45, 46], "enforc": [2, 25, 29], "string": [2, 9, 14, 17, 33, 35, 37, 39, 40, 41, 42, 43, 44, 48, 50], "ensur": [2, 7, 9, 29, 45], "constant": [2, 17], "hardware_interfac": [2, 3, 4, 5, 11, 12, 14, 15, 17, 23, 26, 27, 28, 29, 33, 35, 36, 37], "In": [2, 3, 4, 5, 6, 7, 8, 11, 15, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 36, 37, 43, 45, 50], "had": 2, "itself": [2, 8], "took": 2, "care": [2, 6, 9, 15, 25, 37, 46], "regist": [2, 3, 5], "resourc": [2, 3, 5, 15, 25], "conflict": [2, 4, 6], "resourcemanag": [2, 8], "take": [2, 6, 8, 15, 22, 25, 35, 37, 43, 45], "state": [2, 3, 4, 5, 6, 7, 9, 11, 12, 13, 14, 15, 16, 17, 19, 20, 21, 22, 24, 25, 26, 27, 28, 29, 30, 31, 36, 37, 39, 43, 44], "avail": [2, 4, 7, 16, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 37, 43, 46], "enabl": [2, 4, 6, 7, 12, 15, 16, 17, 24, 33, 35, 39, 50], "anymor": 2, "controllermanag": [2, 9], "implement": [2, 3, 4, 5, 6, 7, 9, 11, 13, 14, 15, 17, 19, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 32, 33, 34, 35, 37, 40, 45, 46, 50, 51, 52, 56], "systeminterfac": [2, 3, 5, 11, 14, 26, 29], "granular": 2, "sensorinterfac": [2, 23, 27], "actuatorinterfac": [2, 23, 28], "abov": [2, 19, 20, 22, 23, 24, 25, 26, 27, 28, 30, 31, 36, 45], "choos": [2, 17, 50], "suitabl": [2, 7], "strategi": [2, 17, 45], "decid": [2, 11], "which": [2, 3, 4, 5, 6, 7, 9, 11, 15, 16, 17, 19, 21, 24, 25, 26, 27, 28, 29, 30, 31, 33, 35, 36, 37, 39, 42, 43, 44, 45, 46, 48, 50, 51], "case": [2, 3, 5, 6, 7, 8, 17, 22, 29, 35, 37, 43, 45, 46, 56], "mayb": [2, 8], "sens": [2, 4, 36, 39], "multipl": [2, 4, 7, 8, 13, 15, 17, 35, 43], "constructor": [2, 15, 29, 37], "initi": [2, 15, 29, 37, 45], "variabl": [2, 11, 15, 29, 37, 44], "need": [2, 3, 4, 5, 6, 7, 8, 13, 15, 17, 19, 21, 23, 24, 25, 26, 27, 28, 29, 30, 33, 36, 37, 45], "commun": [2, 4, 6, 7, 11, 15, 17, 19, 21, 23, 24, 25, 26, 27, 29, 30], "default": [2, 4, 8, 9, 14, 21, 25, 32, 33, 34, 35, 39, 40, 41, 42, 43, 44, 45, 46, 48, 50, 52], "configur": [2, 3, 4, 5, 6, 7, 8, 9, 12, 14, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 37, 43, 44, 45, 46, 50], "paramet": [2, 3, 5, 7, 11, 15, 17, 19, 24, 29, 37, 46], "pars": [2, 3, 5, 9, 10, 13], "urdf": [2, 7, 9, 11, 13, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 30, 31, 33], "snippet": 2, "hardwareinfo": [2, 11, 29], "here": [2, 10, 15, 29, 37, 38, 46, 47, 53], "cross": [2, 43], "valu": [2, 4, 6, 11, 13, 14, 15, 17, 19, 20, 22, 24, 26, 27, 29, 31, 33, 35, 37, 39, 42, 43, 44, 46, 48, 50], "export_": 2, "_interfac": [2, 15], "joint_a2": 2, "extract": [2, 35, 51], "sensibl": 2, "stop": [2, 7, 8, 9, 12, 16, 19, 24, 25, 29, 35, 44, 51], "usual": [2, 4, 9, 14, 15, 29, 33, 37], "includ": [2, 3, 5, 6, 12, 15, 16, 21, 29, 33, 37, 46, 55], "command": [2, 3, 4, 5, 6, 7, 9, 10, 13, 14, 15, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 34, 35, 36, 37, 38, 40, 41, 44, 45, 47, 49, 52, 53, 56], "safe": [2, 29, 35, 37, 46, 51], "interrupt": [2, 9], "stream": [2, 7], "write": [2, 4, 7, 8, 9, 10, 11, 22, 23, 24, 28, 33, 36], "exchang": [2, 6, 19, 21, 23, 24, 25, 26, 27, 28, 30, 56], "equival": [2, 29], "forget": [2, 4, 17, 46], "pluginlib_export_class": [2, 15, 17, 29, 37], "macro": [2, 4, 11, 15, 17, 29, 37], "end": [2, 4, 12, 15, 29, 33, 37, 44], "cpp": [2, 15, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 37], "file": [2, 3, 4, 5, 6, 7, 9, 11, 14, 15, 17, 33, 35, 37, 38, 39, 46, 47, 53], "creat": [2, 3, 4, 5, 7, 9, 14, 15, 17, 21, 29, 37], "xml": [2, 3, 5, 11, 12, 15, 29, 37], "librari": [2, 4, 15, 16, 21, 32, 34, 36, 37, 50, 52], "pluginlib": [2, 3, 4, 5, 9, 15, 29, 37], "exampl": [2, 3, 4, 5, 6, 7, 8, 9, 14, 16, 21, 24, 33, 35, 38, 39, 46, 47, 53, 56], "rrbotsystempositiononlyhardwar": [2, 4, 13, 16, 19, 22, 27], "excel": 2, "jointtrajectorycontrol": [2, 3, 5, 16, 19, 33, 46], "real": [2, 6, 7, 9, 14, 24, 37, 43, 44, 56], "critic": [2, 6], "mark": [2, 22], "controllerinterfac": [2, 4, 8, 16, 29, 37], "member": [2, 15, 29, 37, 45], "init": 2, "call": [2, 3, 4, 5, 8, 11, 15, 24, 29, 37], "lifecycl": [2, 4, 7, 9, 12, 15, 29, 36], "declar": [2, 11, 15, 29, 37], "state_interface_configur": [2, 29, 37], "command_interface_configur": [2, 29, 37], "design": [2, 4, 6, 7, 8, 21, 29, 56], "updat": [2, 4, 8, 9, 10, 12, 17, 21, 29, 33, 36, 37, 46, 50], "manag": [2, 3, 5, 6, 7, 10, 12, 15, 16, 17, 29, 37, 46, 56], "option": [2, 3, 5, 9, 12, 14, 15, 16, 19, 25, 33, 35, 36, 37, 39, 43, 46, 50], "on_configur": [2, 15, 29, 37], "on_activ": [2, 11, 12, 15, 29, 37], "on_deactiv": [2, 12, 15, 29, 37], "deactiv": [2, 4, 16, 19, 44], "final": [2, 7, 12, 29], "joint_trajectory_plugin": 2, "integr": [3, 4, 5, 6, 7, 14, 17, 22, 24, 29, 44, 45, 46, 56], "architectur": [3, 5, 6, 7], "gazebo": [3, 5, 6, 17, 19, 31, 54], "classic": [3, 17, 31, 54], "instanti": [3, 5, 9], "connect": [3, 4, 5, 14, 17, 26, 29], "model": [3, 5, 19, 21, 29], "cd": [3, 4, 5, 17, 29], "docker": [3, 5, 18, 19, 21, 22, 23, 24, 25, 26, 27, 28, 30, 31], "gui": [3, 5, 17, 19, 22, 23, 25, 26, 27, 28, 30, 31, 49], "properli": [3, 5, 8, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31], "rm": [3, 4, 5, 17, 19, 31], "net": [3, 5, 7, 17, 19, 31], "host": [3, 5, 17, 19, 31, 55], "ros2": [3, 4, 5, 7, 9, 15, 16, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 37], "launch": [3, 4, 5, 9, 14, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 30, 31], "cart_example_posit": [3, 5], "py": [3, 5, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31], "fals": [3, 5, 11, 14, 17, 19, 21, 31, 33, 35, 41, 43, 44, 46, 50], "machin": [3, 4, 5, 6, 17, 31], "client": [3, 5, 31, 46], "gzclient": [3, 31], "rocker": [3, 5], "go": [3, 5, 7, 9, 15, 29, 37], "imag": [3, 5, 9, 31], "inject": [3, 5, 7], "nvidia": [3, 5], "And": 3, "user": [3, 5, 6, 9, 17, 29, 45], "id": [3, 5, 16, 19, 21, 23, 24, 25, 26, 27, 28, 30, 33, 35], "specif": [3, 5, 6, 8, 9, 11, 12, 13, 29, 31, 40, 43, 45, 46], "cleaner": [3, 5], "mount": [3, 5], "permiss": [3, 5, 9], "instal": [3, 5, 9, 15, 18, 19, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 37], "instruct": [3, 5, 24, 29, 31], "x11": [3, 5], "latest": [3, 4, 5], "move": [3, 5, 17, 19, 21, 22, 23, 24, 25, 26, 27, 28, 30, 31, 35, 41], "cart": [3, 5], "rail": [3, 5], "exec": [3, 5, 19], "bash": [3, 4, 5, 15, 17, 19, 29, 37], "home": [3, 5], "ros2_w": [3, 4, 5, 17], "example_posit": [3, 5], "element": [3, 5, 29, 33, 44], "access": [3, 4, 5, 7, 9, 14, 19, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 37, 43], "interfac": [3, 5, 6, 7, 8, 9, 10, 12, 14, 15, 17, 19, 21, 22, 23, 24, 26, 27, 28, 31, 32, 34, 36, 37, 39, 42, 44, 45, 48, 52, 54, 55, 56], "gazebosystem": 3, "hardwar": [3, 5, 7, 8, 10, 14, 16, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 30, 31, 35, 36, 37, 44, 51, 56], "slider_to_cart": [3, 5, 38, 47, 53], "command_interfac": [3, 4, 5, 13, 22, 29, 33, 44, 46], "param": [3, 4, 5, 9, 11, 13, 14, 24, 29], "min": [3, 4, 5, 13, 29], "1000": [3, 5, 29], "state_interfac": [3, 4, 5, 13, 29, 33, 44, 46], "initial_valu": [3, 5, 29], "mimick": [3, 5, 14], "manual": [3, 4, 5, 6, 9, 15, 17, 19, 25, 26, 27, 28, 30, 31, 37, 56], "multipli": [3, 5, 14], "definit": [3, 4, 5, 9, 15, 29, 33, 35, 36, 37, 39, 41, 42, 43, 44, 48], "left_finger_joint": [3, 5], "prismat": [3, 5], "right_finger_joint": [3, 5], "axi": [3, 5, 6, 29, 32, 34, 35, 39, 52], "xyz": [3, 5, 29], "rpy": [3, 5, 29], "1415926535": [3, 5], "parent": [3, 5, 15, 29, 35, 37], "link": [3, 4, 5, 7, 8, 12, 29, 33, 35, 36], "base": [3, 4, 5, 7, 12, 15, 16, 17, 21, 23, 24, 28, 29, 33, 35, 37, 40, 50, 51, 54, 55], "child": [3, 5, 13, 29, 35], "finger_left": [3, 5], "lower": [3, 5, 29], "upper": [3, 5, 29], "actual": [3, 5, 8, 35], "load": [3, 4, 5, 9, 15, 16, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 33, 36, 37], "appropri": [3, 5, 6, 45], "By": [3, 5, 9, 21, 29, 43, 45], "though": [3, 5, 21, 22], "extens": [3, 5], "via": [3, 4, 5, 17, 19, 26, 27, 29, 31, 46, 55], "between": [3, 4, 5, 6, 12, 13, 17, 29, 32, 34, 35, 43, 44, 45, 46, 52], "filenam": [3, 5, 29], "libgazebo_ros2_control": 3, "so": [3, 4, 5, 8, 9, 15, 29, 33, 37, 46], "robot_param": [3, 5], "robot_descript": [3, 5, 9, 19, 29, 33], "robot_param_nod": [3, 5], "robot_state_publish": [3, 5, 21, 43], "config": [3, 5, 17], "cart_control": [3, 5], "yaml": [3, 4, 5, 6, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 46], "locat": [3, 29, 33, 35, 39, 41, 42, 43, 44, 48], "server": [3, 41, 46], "node": [3, 4, 5, 9, 11, 12, 14, 16, 19, 21, 23, 24, 25, 26, 27, 28, 29, 30, 31, 37], "attempt": [3, 5, 9, 46], "get": [3, 5, 7, 8, 9, 11, 12, 15, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 45, 56], "most": [3, 5, 6, 15, 17, 21, 29, 37], "least": [3, 5, 13, 15, 37, 46], "jointstateinterfac": [3, 5], "effortjointinterfac": [3, 5], "velocityjointinterfac": [3, 5], "complex": [3, 4, 5, 6, 7, 8], "mechan": [3, 5, 8, 46], "nonlinear": [3, 5], "spring": [3, 5], "linkag": [3, 5, 19, 22, 30], "etc": [3, 5, 9, 25, 29, 33, 56], "These": [3, 5, 17, 29, 35, 41], "inherit": [3, 5, 9, 29], 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16, 25, 36, 37, 38, 46, 47, 53], "ros__paramet": [3, 5, 33, 35, 38, 39, 41, 42, 43, 44, 46, 47, 48, 53], "update_r": [3, 5, 9, 36, 38, 47, 53], "100": [3, 4, 11, 13, 38, 47, 53], "hz": [3, 5, 35, 38, 41, 47, 53], "jointstatebroadcast": [3, 5, 16, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 30, 31], "interface_nam": [3, 20, 39, 40], "contain": [3, 17, 18, 19, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 33, 35, 38, 39, 41, 42, 43, 44, 45, 47, 48, 50, 53], "content": [3, 15, 29, 37], "There": [3, 4, 5, 9, 12, 15, 17, 21, 23, 26, 27, 28, 37, 45, 46], "meter": [3, 5, 29], "cart_example_veloc": [3, 5], "cart_example_effort": [3, 5], "diff_driv": 3, "tricycle_dr": 3, "world": [3, 5, 9, 14, 21, 29, 33], "example_veloc": [3, 5], "example_effort": [3, 5], "example_diff_dr": [3, 5], "example_tricycle_dr": [3, 5], "parallel": [3, 4, 5, 13, 14], "gripper_mimic_joint_exampl": [3, 5], "send": [3, 5, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 45, 46], "example_gripp": [3, 5], "iron": [4, 17, 29], 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[1, 4, 17, 19], "foxi": [1, 7, 15], "galact": [1, 12, 15], "releas": [1, 4, 7, 17, 29], "version": [1, 6, 11, 17, 46], "non": [1, 7, 22, 29, 39], "brake": 1, "distribut": [1, 17, 56], "three": [1, 2, 4, 12, 13, 17, 29, 37, 45, 52], "stage": [1, 8, 22], "current": [1, 6, 11, 12, 13, 15, 16, 45, 46, 50], "futur": [1, 7, 8, 45, 46], "compat": [1, 2, 7, 15, 17], "packag": [1, 2, 3, 5, 12, 15, 29, 32, 33, 34, 35, 37, 38, 39, 42, 46, 47, 48, 50, 52, 53, 56], "direct": [1, 2, 6, 15, 29, 37, 44], "local": [1, 3, 5, 18, 19, 21, 22, 23, 24, 25, 26, 27, 28, 30, 31, 43], "possibl": [1, 4, 6, 9, 13, 17, 19, 21, 23, 24, 25, 26, 27, 28, 30, 33, 37, 45], "core": [1, 10, 29], "immedi": [1, 9, 19, 22, 23, 25, 26, 27, 28, 29, 30, 31], "depend": [1, 4, 12, 13, 15, 17, 18, 19, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 36, 37, 45, 50], "fail": [1, 25, 29], "expect": [1, 6, 22, 29, 32, 34, 35, 46, 50, 52], "after": [1, 8, 9, 15, 17, 19, 29, 35, 37, 44, 45, 50, 51], "next": [1, 19, 29, 45], "sync": 1, "abl": 1, "potenti": [1, 37, 44], "mid": 1, "power": [1, 3, 5, 7, 15], "plausibl": 1, "analyt": 1, "robothw": 2, "rigid": 2, "ani": [2, 4, 7, 8, 9, 12, 13, 17, 22, 29, 37, 44, 46], "imposs": 2, "extend": [2, 4, 6, 8, 15, 37], "exist": [2, 4, 6, 8, 9, 12, 13, 15, 19, 21, 23, 24, 25, 26, 27, 28, 29, 30, 33, 37, 46], "addit": [2, 3, 5, 8, 17, 20, 24, 29], "sensor": [2, 4, 6, 12, 14, 15, 17, 23, 28, 29, 33, 36, 55], "actuat": [2, 4, 6, 12, 13, 14, 15, 17, 22], "tool": [2, 3, 5, 6, 7, 29, 33], "without": [2, 3, 4, 5, 7, 9, 14, 15, 17, 22, 31, 37, 44, 45], "combinedrobothardwar": 2, "drawback": [2, 56], "solut": [2, 7], "optim": [2, 9], "combin": [2, 8, 13, 14, 17, 25, 43, 45, 46], "extern": [2, 4, 6, 8, 14, 17, 33], "defin": [2, 3, 5, 6, 9, 14, 15, 17, 29, 33, 37, 39, 42, 43, 44, 45, 46, 48, 50], "system": [2, 3, 4, 5, 6, 7, 11, 12, 13, 15, 16, 17, 19, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 44, 46, 54, 55, 56], "composit": [2, 7], "basic": [2, 3, 4, 5, 6, 7, 15, 17, 24, 37], "physic": [2, 4, 12, 13, 14], "cell": [2, 39], "surround": 2, "describ": [2, 4, 8, 13, 17, 19, 25, 29, 31, 35, 45], "multi": [2, 4, 6, 7, 17, 25], "gripper": [2, 3, 4, 5, 7, 13, 14, 36], "out": [2, 3, 5, 9, 29, 35], "box": [2, 17, 19, 21, 24, 25, 26, 27, 30, 31], "allow": [2, 3, 4, 5, 17, 29, 41, 44, 45, 46, 49], "joint": [2, 4, 7, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 40, 41, 43, 44, 45, 47, 50, 52, 53, 56], "posit": [2, 3, 4, 5, 7, 9, 13, 16, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 33, 35, 36, 38, 43, 44, 45, 46, 47, 50, 53], "veloc": [2, 3, 4, 5, 7, 8, 17, 21, 23, 24, 25, 29, 33, 34, 35, 36, 41, 42, 43, 44, 45, 46, 47, 50, 53], "effort": [2, 3, 5, 17, 29, 36, 38, 41, 43, 44, 46], "hard": [2, 9], "data": [2, 4, 6, 14, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 35, 36, 43, 45], "approach": [2, 8, 11], "doe": [2, 8, 9, 15, 19, 21, 23, 24, 25, 26, 27, 28, 29, 30, 37, 45, 46], "enforc": [2, 25, 29], "string": [2, 9, 14, 17, 33, 35, 37, 39, 40, 41, 42, 43, 44, 48, 50], "ensur": [2, 7, 9, 29, 45], "constant": [2, 17], "hardware_interfac": [2, 3, 4, 5, 11, 12, 14, 15, 17, 23, 26, 27, 28, 29, 33, 35, 36, 37], "In": [2, 3, 4, 5, 6, 7, 8, 11, 15, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 36, 37, 43, 45, 50], "had": 2, "itself": [2, 8], "took": 2, "care": [2, 6, 9, 15, 25, 37, 46], "regist": [2, 3, 5], "resourc": [2, 3, 5, 15, 25], "conflict": [2, 4, 6], "resourcemanag": [2, 8], "take": [2, 6, 8, 15, 22, 25, 35, 37, 43, 45], "state": [2, 3, 4, 5, 6, 7, 9, 11, 12, 13, 14, 15, 16, 17, 19, 20, 21, 22, 24, 25, 26, 27, 28, 29, 30, 31, 36, 37, 39, 43, 44], "avail": [2, 4, 7, 16, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 37, 43, 46], "enabl": [2, 4, 6, 7, 12, 15, 16, 17, 24, 33, 35, 39, 50], "anymor": 2, "controllermanag": [2, 9], "implement": [2, 3, 4, 5, 6, 7, 9, 11, 13, 14, 15, 17, 19, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 32, 33, 34, 35, 37, 40, 45, 46, 50, 51, 52, 56], "systeminterfac": [2, 3, 5, 11, 14, 26, 29], "granular": 2, "sensorinterfac": [2, 23, 27], "actuatorinterfac": [2, 23, 28], "abov": [2, 19, 20, 22, 23, 24, 25, 26, 27, 28, 30, 31, 36, 45], "choos": [2, 17, 50], "suitabl": [2, 7], "strategi": [2, 17, 45], "decid": [2, 11], "which": [2, 3, 4, 5, 6, 7, 9, 11, 15, 16, 17, 19, 21, 24, 25, 26, 27, 28, 29, 30, 31, 33, 35, 36, 37, 39, 42, 43, 44, 45, 46, 48, 50, 51], "case": [2, 3, 5, 6, 7, 8, 17, 22, 29, 35, 37, 43, 45, 46, 56], "mayb": [2, 8], "sens": [2, 4, 36, 39], "multipl": [2, 4, 7, 8, 13, 15, 17, 35, 43], "constructor": [2, 15, 29, 37], "initi": [2, 15, 29, 37, 45], "variabl": [2, 11, 15, 29, 37, 44], "need": [2, 3, 4, 5, 6, 7, 8, 13, 15, 17, 19, 21, 23, 24, 25, 26, 27, 28, 29, 30, 33, 36, 37, 45], "commun": [2, 4, 6, 7, 11, 15, 17, 19, 21, 23, 24, 25, 26, 27, 29, 30], "default": [2, 4, 8, 9, 14, 21, 25, 32, 33, 34, 35, 39, 40, 41, 42, 43, 44, 45, 46, 48, 50, 52], "configur": [2, 3, 4, 5, 6, 7, 8, 9, 12, 14, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 37, 43, 44, 45, 46, 50], "paramet": [2, 3, 5, 7, 11, 15, 17, 19, 24, 29, 37, 46], "pars": [2, 3, 5, 9, 10, 13], "urdf": [2, 7, 9, 11, 13, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 30, 31, 33], "snippet": 2, "hardwareinfo": [2, 11, 29], "here": [2, 10, 15, 29, 37, 38, 46, 47, 53], "cross": [2, 43], "valu": [2, 4, 6, 11, 13, 14, 15, 17, 19, 20, 22, 24, 26, 27, 29, 31, 33, 35, 37, 39, 42, 43, 44, 46, 48, 50], "export_": 2, "_interfac": [2, 15], "joint_a2": 2, "extract": [2, 35, 51], "sensibl": 2, "stop": [2, 7, 8, 9, 12, 16, 19, 24, 25, 29, 35, 44, 51], "usual": [2, 4, 9, 14, 15, 29, 33, 37], "includ": [2, 3, 5, 6, 12, 15, 16, 21, 29, 33, 37, 46, 55], "command": [2, 3, 4, 5, 6, 7, 9, 10, 13, 14, 15, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 34, 35, 36, 37, 38, 40, 41, 44, 45, 47, 49, 52, 53, 56], "safe": [2, 29, 35, 37, 46, 51], "interrupt": [2, 9], "stream": [2, 7], "write": [2, 4, 7, 8, 9, 10, 11, 22, 23, 24, 28, 33, 36], "exchang": [2, 6, 19, 21, 23, 24, 25, 26, 27, 28, 30, 56], "equival": [2, 29], "forget": [2, 4, 17, 46], "pluginlib_export_class": [2, 15, 17, 29, 37], "macro": [2, 4, 11, 15, 17, 29, 37], "end": [2, 4, 12, 15, 29, 33, 37, 44], "cpp": [2, 15, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 37], "file": [2, 3, 4, 5, 6, 7, 9, 11, 14, 15, 17, 33, 35, 37, 38, 39, 46, 47, 53], "creat": [2, 3, 4, 5, 7, 9, 14, 15, 17, 21, 29, 37], "xml": [2, 3, 5, 11, 12, 15, 29, 37], "librari": [2, 4, 15, 16, 21, 32, 34, 36, 37, 50, 52], "pluginlib": [2, 3, 4, 5, 9, 15, 29, 37], "exampl": [2, 3, 4, 5, 6, 7, 8, 9, 14, 16, 21, 24, 33, 35, 38, 39, 46, 47, 53, 56], "rrbotsystempositiononlyhardwar": [2, 4, 13, 16, 19, 22, 27], "excel": 2, "jointtrajectorycontrol": [2, 3, 5, 16, 19, 33, 46], "real": [2, 6, 7, 9, 14, 24, 37, 43, 44, 56], "critic": [2, 6], "mark": [2, 22], "controllerinterfac": [2, 4, 8, 16, 29, 37], "member": [2, 15, 29, 37, 45], "init": 2, "call": [2, 3, 4, 5, 8, 11, 15, 24, 29, 37], "lifecycl": [2, 4, 7, 9, 12, 15, 29, 36], "declar": [2, 11, 15, 29, 37], "state_interface_configur": [2, 29, 37], "command_interface_configur": [2, 29, 37], "design": [2, 4, 6, 7, 8, 21, 29, 56], "updat": [2, 4, 8, 9, 10, 12, 17, 21, 29, 33, 36, 37, 46, 50], "manag": [2, 3, 5, 6, 7, 10, 12, 15, 16, 17, 29, 37, 46, 56], "option": [2, 3, 5, 9, 12, 14, 15, 16, 19, 25, 33, 35, 36, 37, 39, 43, 46, 50], "on_configur": [2, 15, 29, 37], "on_activ": [2, 11, 12, 15, 29, 37], "on_deactiv": [2, 12, 15, 29, 37], "deactiv": [2, 4, 16, 19, 44], "final": [2, 7, 12, 29], "joint_trajectory_plugin": 2, "integr": [3, 4, 5, 6, 7, 14, 17, 22, 24, 29, 44, 45, 46, 56], "architectur": [3, 5, 6, 7], "gazebo": [3, 5, 6, 17, 19, 31, 54], "classic": [3, 17, 31, 54], "instanti": [3, 5, 9], "connect": [3, 4, 5, 14, 17, 26, 29], "model": [3, 5, 19, 21, 29], "cd": [3, 4, 5, 17, 29], "docker": [3, 5, 18, 19, 21, 22, 23, 24, 25, 26, 27, 28, 30, 31], "gui": [3, 5, 17, 19, 22, 23, 25, 26, 27, 28, 30, 31, 49], "properli": [3, 5, 8, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31], "rm": [3, 4, 5, 17, 19, 31], "net": [3, 5, 7, 17, 19, 31], "host": [3, 5, 17, 19, 31, 55], "ros2": [3, 4, 5, 7, 9, 15, 16, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 37], "launch": [3, 4, 5, 9, 14, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 30, 31], "cart_example_posit": [3, 5], "py": [3, 5, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31], "fals": [3, 5, 11, 14, 17, 19, 21, 31, 33, 35, 41, 43, 44, 46, 50], "machin": [3, 4, 5, 6, 17, 31], "client": [3, 5, 31, 46], "gzclient": [3, 31], "rocker": [3, 5], "go": [3, 5, 7, 9, 15, 29, 37], "imag": [3, 5, 9, 31], "inject": [3, 5, 7], "nvidia": [3, 5], "And": 3, "user": [3, 5, 6, 9, 17, 29, 45], "id": [3, 5, 16, 19, 21, 23, 24, 25, 26, 27, 28, 30, 33, 35], "specif": [3, 5, 6, 8, 9, 11, 12, 13, 29, 31, 40, 43, 45, 46], "cleaner": [3, 5], "mount": [3, 5], "permiss": [3, 5, 9], "instal": [3, 5, 9, 15, 18, 19, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 37], "instruct": [3, 5, 24, 29, 31], "x11": [3, 5], "latest": [3, 4, 5], "move": [3, 5, 17, 19, 21, 22, 23, 24, 25, 26, 27, 28, 30, 31, 35, 41], "cart": [3, 5], "rail": [3, 5], "exec": [3, 5, 19], "bash": [3, 4, 5, 15, 17, 19, 29, 37], "home": [3, 5], "ros2_w": [3, 4, 5, 17], "example_posit": [3, 5], "element": [3, 5, 29, 33, 44], "access": [3, 4, 5, 7, 9, 14, 19, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 37, 43], "interfac": [3, 5, 6, 7, 8, 9, 10, 12, 14, 15, 17, 19, 21, 22, 23, 24, 26, 27, 28, 31, 32, 34, 36, 37, 39, 42, 44, 45, 48, 52, 54, 55, 56], "gazebosystem": 3, "hardwar": [3, 5, 7, 8, 10, 14, 16, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 30, 31, 35, 36, 37, 44, 51, 56], "slider_to_cart": [3, 5, 38, 47, 53], "command_interfac": [3, 4, 5, 13, 22, 29, 33, 44, 46], "param": [3, 4, 5, 9, 11, 13, 14, 24, 29], "min": [3, 4, 5, 13, 29], "1000": [3, 5, 29], "state_interfac": [3, 4, 5, 13, 29, 33, 44, 46], "initial_valu": [3, 5, 29], "mimick": [3, 5, 14], "manual": [3, 4, 5, 6, 9, 15, 17, 19, 25, 26, 27, 28, 30, 31, 37, 56], "multipli": [3, 5, 14], "definit": [3, 4, 5, 9, 15, 29, 33, 35, 36, 37, 39, 41, 42, 43, 44, 48], "left_finger_joint": [3, 5], "prismat": [3, 5], "right_finger_joint": [3, 5], "axi": [3, 5, 6, 29, 32, 34, 35, 39, 52], "xyz": [3, 5, 29], "rpy": [3, 5, 29], "1415926535": [3, 5], "parent": [3, 5, 15, 29, 35, 37], "link": [3, 4, 5, 7, 8, 12, 29, 33, 35, 36], "base": [3, 4, 5, 7, 12, 15, 16, 17, 21, 23, 24, 28, 29, 33, 35, 37, 40, 50, 51, 54, 55], "child": [3, 5, 13, 29, 35], "finger_left": [3, 5], "lower": [3, 5, 29], "upper": [3, 5, 29], "actual": [3, 5, 8, 35], "load": [3, 4, 5, 9, 15, 16, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 33, 36, 37], "appropri": [3, 5, 6, 45], "By": [3, 5, 9, 21, 29, 43, 45], "though": [3, 5, 21, 22], "extens": [3, 5], "via": [3, 4, 5, 17, 19, 26, 27, 29, 31, 46, 55], "between": [3, 4, 5, 6, 12, 13, 17, 29, 32, 34, 35, 43, 44, 45, 46, 52], "filenam": [3, 5, 29], "libgazebo_ros2_control": 3, "so": [3, 4, 5, 8, 9, 15, 29, 33, 37, 46], "robot_param": [3, 5], "robot_descript": [3, 5, 9, 19, 29, 33], "robot_param_nod": [3, 5], "robot_state_publish": [3, 5, 21, 43], "config": [3, 5, 17], "cart_control": [3, 5], "yaml": [3, 4, 5, 6, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 46], "locat": [3, 29, 33, 35, 39, 41, 42, 43, 44, 48], "server": [3, 41, 46], "node": [3, 4, 5, 9, 11, 12, 14, 16, 19, 21, 23, 24, 25, 26, 27, 28, 29, 30, 31, 37], "attempt": [3, 5, 9, 46], "get": [3, 5, 7, 8, 9, 11, 12, 15, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 45, 56], "most": [3, 5, 6, 15, 17, 21, 29, 37], "least": [3, 5, 13, 15, 37, 46], "jointstateinterfac": [3, 5], "effortjointinterfac": [3, 5], "velocityjointinterfac": [3, 5], "complex": [3, 4, 5, 6, 7, 8], "mechan": [3, 5, 8, 46], "nonlinear": [3, 5], "spring": [3, 5], "linkag": [3, 5, 19, 22, 30], "etc": [3, 5, 9, 25, 29, 33, 56], "These": [3, 5, 17, 29, 35, 41], "inherit": [3, 5, 9, 29], "gazebosysteminterfac": 3, "level": [3, 5, 6, 7, 9, 22, 23, 28, 38, 45, 47, 53], "properti": 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ChainableController": [[8, "a-controller-base-class-chainablecontroller"]], "Inner Resource Management": [[8, "inner-resource-management"]], "Activation and Deactivation Chained Controllers": [[8, "activation-and-deactivation-chained-controllers"]], "Debugging outputs": [[8, "debugging-outputs"]], "Closing remarks": [[8, "closing-remarks"]], "Determinism": [[9, "determinism"]], "Parameters": [[9, "parameters"], [14, "parameters"], [32, "parameters"], [33, "parameters"], [34, "parameters"], [35, "parameters"], [38, "parameters"], [39, "parameters"], [40, "parameters"], [41, "parameters"], [42, "parameters"], [43, "parameters"], [47, "parameters"], [48, "parameters"], [50, "parameters"], [52, "parameters"], [53, "parameters"]], "Helper scripts": [[9, "helper-scripts"]], "spawner": [[9, "spawner"]], "unspawner": [[9, "unspawner"]], "Using the Controller Manager in a Process": [[9, "using-the-controller-manager-in-a-process"]], "Concepts": [[9, "concepts"], [10, "concepts"]], "Restarting 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Modular robot with actuators not providing states": [[23, "example-14-modular-robot-with-actuators-not-providing-states"]], "DiffBot": [[24, "diffbot"]], "Example 3: Robots with multiple interfaces": [[25, "example-3-robots-with-multiple-interfaces"]], "Example 4: Industrial robot with integrated sensor": [[26, "example-4-industrial-robot-with-integrated-sensor"]], "Files used for this demo": [[26, "files-used-for-this-demo"]], "Example 5: Industrial robot with externally connected sensor": [[27, "example-5-industrial-robot-with-externally-connected-sensor"]], "Example 6: Modular Robots with separate communication to each actuator": [[28, "example-6-modular-robots-with-separate-communication-to-each-actuator"]], "Example 7: Full tutorial with a 6DOF robot": [[29, "example-7-full-tutorial-with-a-6dof-robot"]], "ros2_control overview": [[29, "ros2-control-overview"]], "Writing a URDF": [[29, "writing-a-urdf"]], "Geometry": [[29, "geometry"]], "URDF file": [[29, "urdf-file"]], "Writing a hardware interface": [[29, "writing-a-hardware-interface"]], "Plugin description file (hardware)": [[29, "plugin-description-file-hardware"]], "CMake library (hardware)": [[29, "cmake-library-hardware"]], "Writing a controller": [[29, "writing-a-controller"]], "Plugin description file (controller)": [[29, "plugin-description-file-controller"]], "CMake library (controller)": [[29, "cmake-library-controller"]], "Launching the example": [[29, "launching-the-example"]], "Example 8: Industrial Robots with an exposed transmission interface": [[30, "example-8-industrial-robots-with-an-exposed-transmission-interface"]], "Example 9: Simulation with RRBot": [[31, "example-9-simulation-with-rrbot"]], "ackermann_steering_controller": [[32, "ackermann-steering-controller"]], "Admittance Controller": [[33, "admittance-controller"]], "ROS 2 interface of the controller": [[33, "ros-2-interface-of-the-controller"], [38, "ros-2-interface-of-the-controller"], [40, "ros-2-interface-of-the-controller"], 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controller", "effort_controllers", "Force Torque Sensor Broadcaster", "forward_command_controller", "Gripper Action Controller", "IMU Sensor Broadcaster", "joint_state_broadcaster", "Details about parameters", "Trajectory Representation", "joint_trajectory_controller", "PID Controller", "position_controllers", "Range Sensor Broadcaster", "rqt_joint_trajectory_controller", "steering_controllers_library", "tricycle_controller", "tricycle_steering_controller", "velocity_controllers", "Simulator Integrations", "Supported Robots", "Welcome to the ros2_control documentation!"], "terms": {"The": [0, 2, 3, 4, 5, 6, 7, 8, 9, 10, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 42, 43, 44, 45, 46, 47, 48, 49, 50, 52, 53, 54, 55, 58], "follow": [0, 1, 2, 3, 4, 5, 6, 8, 9, 10, 12, 13, 14, 15, 16, 17, 18, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 37, 38, 39, 45, 46, 47, 48, 49, 54, 55, 58], "peopl": [0, 1], 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25, 30], "weekend": 1, "It": [1, 2, 3, 4, 6, 9, 10, 20, 23, 24, 26, 27, 28, 29, 30, 31, 32, 40, 44, 45, 46, 48], "doesn": [1, 9, 48], "matter": 1, "trivial": [1, 15], "chanc": 1, "proper": [1, 9, 10, 47], "Be": 1, "awar": 1, "impact": 1, "proport": [1, 45, 48], "its": [1, 2, 3, 4, 5, 6, 7, 9, 10, 14, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 40, 41, 42, 43, 44, 45, 46, 48, 50, 52, 53, 54], "ping": 1, "them": [1, 6, 9, 10, 16, 19, 20, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 38, 44, 46, 57], "necessari": [1, 9, 13], "repeatedli": 1, "start": [1, 2, 3, 5, 7, 9, 10, 13, 18, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 36, 38, 45, 46, 53, 58], "part": [1, 6, 7, 14, 30, 38, 46, 47, 48], "For": [1, 3, 4, 5, 6, 7, 9, 10, 13, 15, 16, 18, 19, 20, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 38, 45, 47, 48, 52, 54], "detail": [1, 2, 3, 4, 5, 10, 13, 14, 15, 16, 23, 30, 32, 33, 35, 36, 38, 46, 47, 54], "cokela": 1, "info": [1, 10, 12, 13, 16, 30], "tutori": [1, 18], "sphinx": 1, "rest_syntax": 1, "html": 1, "id8": 1, "type": [1, 2, 3, 4, 5, 7, 9, 10, 11, 12, 13, 16, 17, 18, 24, 25, 27, 28, 29, 30, 36, 37, 38, 39, 40, 43, 45, 48, 49, 50, 52, 55], "stabl": 1, "against": 1, "accept": [1, 16, 26, 38, 39, 45, 46, 47, 49, 55], "api": [1, 3, 5, 6, 16, 20, 22, 24, 25, 26, 27, 28, 29, 31], "abi": 1, "e": [1, 2, 3, 4, 5, 6, 7, 9, 10, 14, 15, 16, 18, 20, 21, 23, 24, 26, 27, 28, 29, 30, 31, 32, 34, 36, 38, 39, 40, 44, 45, 46, 48, 49, 52, 53, 55, 58], "name": [1, 2, 3, 4, 5, 7, 10, 12, 14, 15, 16, 17, 18, 20, 23, 24, 25, 27, 28, 29, 30, 32, 34, 36, 38, 40, 41, 43, 44, 45, 48, 50, 52, 53], "convent": [1, 30], "master": [1, 4, 18, 30], "semi": 1, "binari": 1, "good": [1, 3, 5, 6, 36, 53], "same": [1, 8, 9, 12, 26, 30, 37, 40, 45, 46, 47, 48], "build": [1, 8, 16, 30, 34, 38], "dai": 1, "ros_distro": [1, 4, 18, 20], "foxi": [1, 7, 16], "galact": [1, 13, 16], "releas": [1, 4, 7, 18, 30], "version": [1, 6, 8, 12, 18, 47], "non": [1, 7, 23, 30, 40], "brake": 1, "distribut": [1, 18, 58], "three": [1, 2, 4, 13, 14, 18, 30, 38, 46, 54], "stage": [1, 9, 23], "current": [1, 6, 12, 13, 14, 16, 17, 46, 47, 52], "futur": [1, 7, 9, 46, 47], "compat": [1, 2, 7, 16, 18], "packag": [1, 2, 3, 5, 13, 16, 30, 33, 34, 35, 36, 38, 39, 40, 43, 47, 48, 49, 50, 52, 54, 55, 58], "direct": [1, 2, 6, 16, 30, 38, 45], "local": [1, 3, 5, 8, 19, 20, 22, 23, 24, 25, 26, 27, 28, 29, 31, 32, 44], "possibl": [1, 4, 6, 10, 14, 15, 18, 20, 22, 24, 25, 26, 27, 28, 29, 31, 34, 38, 46], "core": [1, 11, 30], "immedi": [1, 10, 20, 23, 24, 26, 27, 28, 29, 30, 31, 32, 48], "depend": [1, 4, 8, 13, 14, 16, 18, 19, 20, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 37, 38, 46, 48, 52], "fail": [1, 26, 30], "expect": [1, 6, 7, 8, 23, 30, 33, 35, 36, 47, 52, 53, 54], "after": [1, 9, 10, 15, 16, 18, 20, 30, 36, 38, 45, 46, 47, 52, 53], "next": [1, 20, 30, 46], "sync": 1, "abl": 1, "potenti": [1, 7, 8, 38, 45], "mid": 1, "power": [1, 3, 5, 7, 16], "plausibl": 1, "analyt": 1, "robothw": 2, "rigid": 2, "ani": [2, 4, 7, 9, 10, 13, 14, 18, 23, 30, 38, 45, 47], "imposs": 2, "extend": [2, 4, 6, 9, 16, 38], "exist": [2, 4, 6, 7, 8, 9, 10, 13, 14, 16, 20, 22, 24, 25, 26, 27, 28, 29, 30, 31, 34, 38, 47], "addit": [2, 3, 5, 9, 18, 21, 25, 30], "sensor": [2, 4, 6, 13, 15, 16, 18, 24, 29, 30, 34, 37, 57], "actuat": [2, 4, 6, 13, 14, 15, 16, 18, 23, 53], "tool": [2, 3, 5, 6, 7, 8, 30, 34], "without": [2, 3, 4, 5, 7, 10, 15, 16, 18, 23, 32, 38, 45, 46], "combinedrobothardwar": 2, "drawback": [2, 58], "solut": [2, 7, 8], "optim": [2, 10], "combin": [2, 9, 14, 15, 18, 26, 44, 46, 47, 48], "extern": [2, 4, 6, 9, 15, 18, 34, 48], "defin": [2, 3, 5, 6, 10, 15, 16, 18, 30, 34, 38, 40, 43, 44, 45, 46, 47, 48, 50, 52], "system": [2, 3, 4, 5, 6, 7, 8, 12, 13, 14, 16, 17, 18, 20, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 45, 47, 56, 57, 58], "composit": [2, 7], "basic": [2, 3, 4, 5, 6, 7, 16, 18, 25, 38], "physic": [2, 4, 13, 14, 15], "cell": [2, 40], "surround": 2, "describ": [2, 4, 9, 14, 18, 20, 26, 30, 32, 36, 46], "multi": [2, 4, 6, 7, 8, 18, 26], "gripper": [2, 3, 4, 5, 7, 14, 15, 37], "out": [2, 3, 5, 10, 30, 36], "box": [2, 18, 20, 22, 25, 26, 27, 28, 31, 32], "allow": [2, 3, 4, 5, 18, 30, 42, 45, 46, 47, 51], "joint": [2, 4, 7, 18, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 41, 42, 44, 45, 46, 48, 49, 52, 53, 54, 55, 58], "posit": [2, 3, 4, 5, 7, 10, 14, 15, 17, 18, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 34, 36, 37, 39, 44, 45, 46, 47, 48, 49, 52, 55], "veloc": [2, 3, 4, 5, 7, 9, 18, 22, 24, 25, 26, 30, 34, 35, 36, 37, 42, 43, 44, 45, 46, 47, 48, 49, 52, 55], "effort": [2, 3, 5, 18, 30, 37, 39, 42, 44, 45, 47, 48], "hard": [2, 10], "data": [2, 4, 6, 15, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 36, 37, 44, 46, 53], "approach": [2, 9, 12], "doe": [2, 10, 16, 20, 22, 24, 25, 26, 27, 28, 29, 30, 31, 38, 46, 47], "enforc": [2, 26, 30], "string": [2, 10, 15, 18, 34, 36, 38, 40, 41, 42, 43, 44, 45, 48, 50, 52, 53], "ensur": [2, 7, 10, 30, 46], "constant": [2, 18], "hardware_interfac": [2, 3, 4, 5, 12, 13, 15, 16, 18, 24, 27, 28, 29, 30, 34, 36, 37, 38], "In": [2, 3, 4, 5, 6, 7, 9, 12, 16, 18, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 37, 38, 44, 46, 52], "had": 2, "itself": [2, 9], "took": 2, "care": [2, 6, 10, 16, 26, 38, 47], "regist": [2, 3, 5], "resourc": [2, 3, 5, 16, 26], "conflict": [2, 4, 6], "resourcemanag": [2, 9], "take": [2, 6, 9, 16, 23, 26, 36, 38, 44, 46], "state": [2, 3, 4, 5, 6, 7, 9, 10, 12, 13, 14, 15, 16, 17, 18, 20, 21, 22, 23, 25, 26, 27, 28, 29, 30, 31, 32, 37, 38, 40, 44, 45], "avail": [2, 4, 7, 9, 17, 18, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 38, 44, 47], "enabl": [2, 4, 6, 7, 13, 16, 17, 18, 25, 34, 36, 40, 48, 52], "anymor": 2, "controllermanag": [2, 10], "implement": [2, 3, 4, 5, 6, 7, 10, 12, 14, 15, 16, 18, 20, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 33, 34, 35, 36, 38, 41, 46, 47, 48, 52, 53, 54, 58], "systeminterfac": [2, 3, 5, 12, 15, 27, 30], "granular": 2, "sensorinterfac": [2, 24, 28], "actuatorinterfac": [2, 24, 29], "abov": [2, 20, 21, 23, 24, 25, 26, 27, 28, 29, 31, 32, 37, 46], "choos": [2, 18, 52], "suitabl": [2, 7], "strategi": [2, 18, 46], "decid": [2, 12], "which": [2, 3, 4, 5, 6, 7, 8, 10, 12, 16, 17, 18, 20, 22, 25, 26, 27, 28, 29, 30, 31, 32, 34, 36, 37, 38, 40, 43, 44, 45, 46, 47, 50, 52, 53], "case": [2, 3, 5, 6, 7, 9, 18, 23, 30, 38, 44, 46, 47, 58], "mayb": [2, 9], "sens": [2, 4, 37, 40], "multipl": [2, 4, 7, 9, 14, 16, 18, 44], "constructor": [2, 16, 30, 38], "initi": [2, 14, 15, 16, 30, 38, 46], "variabl": [2, 12, 16, 30, 38, 45], "need": [2, 3, 4, 5, 6, 7, 9, 14, 16, 18, 20, 22, 24, 25, 26, 27, 28, 29, 30, 31, 34, 37, 38, 46, 48], "commun": [2, 4, 6, 7, 12, 16, 18, 20, 22, 24, 25, 26, 27, 28, 30, 31], "default": [2, 4, 9, 10, 15, 22, 26, 33, 34, 35, 36, 38, 40, 41, 42, 43, 44, 45, 46, 47, 48, 50, 52, 53, 54], "configur": [2, 3, 4, 5, 6, 7, 9, 10, 13, 15, 18, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 38, 44, 45, 46, 47, 52], "paramet": [2, 3, 5, 7, 8, 12, 16, 18, 20, 25, 30, 38, 47], "pars": [2, 3, 5, 10, 11, 14], "urdf": [2, 7, 10, 12, 14, 18, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 31, 32, 34], "snippet": 2, "hardwareinfo": [2, 12, 30], "here": [2, 11, 16, 30, 38, 39, 47, 49, 55], "cross": [2, 44], "valu": [2, 4, 6, 12, 14, 15, 16, 18, 20, 21, 23, 25, 27, 28, 30, 32, 34, 36, 38, 40, 43, 44, 45, 47, 50, 52, 53], "export_": 2, "_interfac": [2, 16], "joint_a2": 2, "extract": [2, 36, 53], "sensibl": 2, "stop": [2, 7, 9, 10, 13, 17, 20, 25, 26, 30, 36, 45, 53], "usual": [2, 4, 10, 15, 16, 30, 34, 38], "includ": [2, 3, 5, 6, 8, 10, 13, 16, 17, 22, 30, 34, 38, 47, 53, 57], "command": [2, 3, 4, 5, 6, 7, 8, 10, 11, 14, 15, 16, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 35, 36, 37, 38, 39, 41, 42, 45, 46, 49, 51, 54, 55, 58], "safe": [2, 30, 36, 38, 47, 53], "interrupt": [2, 10], "stream": [2, 7], "write": [2, 4, 7, 9, 10, 11, 12, 23, 24, 25, 29, 34, 37, 48], "exchang": [2, 6, 20, 22, 24, 25, 26, 27, 28, 29, 31, 58], "equival": [2, 30], "forget": [2, 4, 18, 47], "pluginlib_export_class": [2, 16, 18, 30, 38], "macro": [2, 4, 12, 16, 18, 30, 38], "end": [2, 4, 13, 16, 30, 34, 38, 45], "cpp": [2, 16, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 38], "file": [2, 3, 4, 5, 6, 7, 10, 12, 15, 16, 18, 34, 36, 38, 39, 40, 47, 49, 55], "creat": [2, 3, 4, 5, 7, 10, 15, 16, 18, 22, 30, 38], "xml": [2, 3, 5, 12, 13, 16, 30, 38], "librari": [2, 4, 16, 17, 22, 33, 35, 37, 38, 48, 52, 54], "pluginlib": [2, 3, 4, 5, 10, 16, 30, 38, 48], "exampl": [2, 3, 4, 5, 6, 7, 9, 10, 15, 17, 22, 25, 34, 36, 39, 40, 47, 48, 49, 53, 55, 58], "rrbotsystempositiononlyhardwar": [2, 4, 14, 17, 20, 23, 28], "excel": 2, "jointtrajectorycontrol": [2, 3, 5, 17, 20, 34, 47], "real": [2, 6, 7, 10, 15, 25, 38, 44, 45, 58], "critic": [2, 6], "mark": [2, 23], "controllerinterfac": [2, 4, 9, 17, 30, 38], "member": [2, 16, 30, 38, 46], "init": 2, "call": [2, 3, 4, 5, 9, 12, 16, 25, 30, 38], "lifecycl": [2, 4, 7, 10, 13, 16, 30, 37], "declar": [2, 12, 16, 30, 38], "state_interface_configur": [2, 30, 38], "command_interface_configur": [2, 30, 38], "design": [2, 4, 6, 7, 9, 22, 30, 58], "updat": [2, 4, 9, 10, 11, 13, 18, 22, 30, 34, 37, 38, 47, 52], "manag": [2, 3, 5, 6, 7, 11, 13, 16, 17, 18, 30, 38, 47, 58], "option": [2, 3, 5, 10, 13, 14, 15, 16, 17, 20, 26, 34, 36, 37, 38, 40, 44, 47, 48, 52], "on_configur": [2, 16, 30, 38], "on_activ": [2, 12, 13, 16, 30, 38], "on_deactiv": [2, 13, 16, 30, 38], "deactiv": [2, 4, 17, 20, 45], "final": [2, 7, 13, 30], "joint_trajectory_plugin": 2, "integr": [3, 4, 5, 6, 7, 15, 18, 23, 25, 30, 45, 46, 47, 48, 53, 58], "architectur": [3, 5, 6, 7, 8], "gazebo": [3, 5, 6, 15, 18, 20, 32, 56], "classic": [3, 15, 18, 32, 56], "instanti": [3, 5, 10], "connect": [3, 4, 5, 15, 18, 27, 30], "model": [3, 5, 20, 22, 30], "cd": [3, 4, 5, 8, 18, 30], "docker": [3, 5, 8, 19, 20, 22, 23, 24, 25, 26, 27, 28, 29, 31, 32], "gui": [3, 5, 18, 20, 23, 24, 26, 27, 28, 29, 31, 32, 51], "properli": [3, 5, 9, 18, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32], "rm": [3, 4, 5, 18, 20, 32], "net": [3, 5, 7, 18, 20, 32], "host": [3, 5, 18, 20, 32, 57], "ros2": [3, 4, 5, 7, 10, 16, 17, 18, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 38], "launch": [3, 4, 5, 10, 15, 18, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 31, 32], "cart_example_posit": [3, 5], "py": [3, 5, 18, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32], "fals": [3, 5, 12, 15, 18, 20, 22, 32, 34, 36, 42, 44, 45, 47, 48, 52, 53], "machin": [3, 4, 5, 6, 18, 32], "client": [3, 5, 32, 47], "gzclient": [3, 32], "rocker": [3, 5], "go": [3, 5, 7, 10, 16, 30, 38], "imag": [3, 5, 10, 32], "inject": [3, 5, 7, 8], "nvidia": [3, 5], "And": 3, "user": [3, 5, 6, 10, 18, 30, 46], "id": [3, 5, 17, 20, 22, 24, 25, 26, 27, 28, 29, 31, 34, 36], "specif": [3, 5, 6, 9, 10, 12, 13, 14, 30, 32, 41, 44, 46, 47], "cleaner": [3, 5], "mount": [3, 5], "permiss": [3, 5, 10], "instal": [3, 5, 8, 10, 16, 19, 20, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 38], "instruct": [3, 5, 8, 25, 30, 32], "x11": [3, 5], "latest": [3, 4, 5, 8], "move": [3, 5, 18, 20, 22, 23, 24, 25, 26, 27, 28, 29, 31, 32, 36, 42, 53], "cart": [3, 5], "rail": [3, 5], "exec": [3, 5, 20], "bash": [3, 4, 5, 8, 16, 18, 20, 30, 38], "home": [3, 5], "ros2_w": [3, 4, 5, 18], "example_posit": [3, 5], "element": [3, 5, 30, 34, 45], "access": [3, 4, 5, 7, 10, 15, 20, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 38, 44], "interfac": [3, 5, 6, 7, 9, 10, 11, 13, 16, 18, 20, 22, 23, 24, 25, 27, 28, 29, 32, 33, 35, 37, 38, 40, 43, 45, 46, 50, 54, 56, 57, 58], "gazebosystem": 3, "hardwar": [3, 5, 7, 8, 9, 11, 15, 17, 18, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 31, 32, 36, 37, 38, 45, 48, 53, 58], "slider_to_cart": [3, 5, 39, 49, 55], "command_interfac": [3, 4, 5, 14, 23, 30, 34, 45, 47, 48], "param": [3, 4, 5, 10, 12, 14, 15, 25, 30], "min": [3, 4, 5, 14, 30], "1000": [3, 5, 30], "state_interfac": [3, 4, 5, 14, 15, 30, 34, 45, 47], "initial_valu": [3, 5, 14, 15, 30], "mimick": [3, 5, 15], "manual": [3, 4, 5, 6, 10, 16, 18, 20, 26, 27, 28, 29, 31, 32, 38, 58], "multipli": [3, 5, 15], "definit": [3, 4, 5, 10, 16, 30, 34, 36, 37, 38, 40, 42, 43, 44, 45, 50], "left_finger_joint": [3, 5], "prismat": [3, 5], "right_finger_joint": [3, 5], "axi": [3, 5, 6, 30, 33, 35, 36, 40, 54], "xyz": [3, 5, 30], "rpy": [3, 5, 30], "1415926535": [3, 5], "parent": [3, 5, 16, 30, 36, 38, 53], "link": [3, 4, 5, 7, 9, 13, 30, 34, 37], "base": [3, 4, 5, 7, 13, 16, 17, 18, 22, 24, 25, 29, 30, 34, 36, 38, 41, 52, 53, 56, 57], "child": [3, 5, 14, 30, 36, 53], "finger_left": [3, 5], "lower": [3, 5, 30, 48], "upper": [3, 5, 30, 48], "actual": [3, 5, 9, 36, 53], "load": [3, 4, 5, 10, 16, 17, 18, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 34, 37, 38], "appropri": [3, 5, 6, 46], "By": [3, 5, 10, 22, 30, 44, 46], "though": [3, 5, 10, 22, 23], "extens": [3, 5], "via": [3, 4, 5, 18, 20, 27, 28, 30, 32, 47, 57], "between": [3, 4, 5, 6, 13, 14, 18, 30, 33, 35, 36, 44, 45, 46, 47, 48, 53, 54], "filenam": [3, 5, 30], "libgazebo_ros2_control": 3, "so": [3, 4, 5, 9, 10, 16, 30, 34, 38, 47], "robot_param": [3, 5], "robot_descript": [3, 5, 10, 20, 30], "robot_param_nod": [3, 5], "robot_state_publish": [3, 5, 22, 44], "config": [3, 5, 18], "cart_control": [3, 5], "yaml": [3, 4, 5, 6, 8, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 47], "controller_manager_nam": 3, "simulation_controller_manag": 3, "locat": [3, 8, 30, 34, 36, 40, 42, 43, 44, 45, 50], "server": [3, 42, 47], "node": [3, 4, 5, 10, 12, 13, 15, 17, 20, 22, 24, 25, 26, 27, 28, 29, 30, 31, 32, 38, 53], "hold_joint": [3, 5], "true": [3, 5, 12, 22, 25, 32, 34, 36, 45, 46, 47, 48, 52, 53], "hold": [3, 5, 46], "wa": [3, 5, 6, 8, 16, 20, 25, 26, 30, 38, 46], "claim": [3, 5, 9, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 34], "hasn": [3, 5], "been": [3, 5, 23], "yet": [3, 5, 9, 10, 18, 23, 36, 46, 47], 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48, 49, 52, 55], "transmiss": [4, 18], "humanoid": 4, "logic": 4, "channel": [4, 57], "kuka": [4, 20, 26, 27, 28, 57], "rsi": [4, 20, 27, 28, 57], "relat": [4, 6, 7], "forc": [4, 7, 14, 17, 27, 28, 34, 37, 57], "torqu": [4, 14, 27, 28, 34, 37], "simpl": [4, 6, 7, 9, 16, 18, 20, 22, 23, 25, 30, 31, 38, 42], "valv": [4, 14], "mandatori": [4, 10], "dc": 4, "arduino": [4, 24, 29], "board": 4, "modular": [4, 7, 8, 18, 30], "independ": [4, 7, 10, 28], "explan": [4, 10, 16], "given": [4, 10, 19, 20, 22, 23, 24, 25, 26, 27, 28, 29, 31, 39, 46, 47, 49, 55], "through": [4, 6, 7, 9, 10, 16, 17, 18, 23, 30, 38, 47, 48, 58], "tag": [4, 10, 14, 16, 18, 20, 21, 22, 23, 24, 25, 26, 27, 29, 30, 31, 32, 38, 58], "chosen": [4, 14], "structur": [4, 6, 9, 10, 16, 30, 36, 38, 45, 46], "track": [4, 33, 54, 58], "togeth": [4, 9, 14, 25, 27, 52], "xacro": [4, 10, 12, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32], "hereund": 4, "rrbot": [4, 14, 17, 18, 21, 22, 24, 26, 27, 28, 29, 31], "effector": [4, 34], 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[1, 6, 7, 14, 16, 18, 21, 22, 23, 24, 26, 27, 28, 29, 30, 32, 38, 53], "handl": [1, 2, 4, 6, 7, 16, 27, 30, 33, 34, 35, 36, 40, 41, 42, 43, 44, 45, 47, 48, 50, 52, 53, 54], "organ": [1, 7, 58], "guidelin": 1, "especi": [1, 2, 18, 52], "applic": [1, 4, 7, 8, 10, 14, 30], "ros2_control_demo": [1, 4, 18, 20, 30, 32, 58], "pleas": [1, 10, 29, 36, 58], "keep": [1, 30, 38], "mind": [1, 38], "work": [1, 6, 7, 9, 16, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 31, 32, 38, 39, 44, 49, 53, 55, 58], "fork": 1, "when": [1, 2, 3, 4, 5, 7, 8, 9, 10, 15, 16, 17, 23, 26, 30, 34, 36, 37, 38, 42, 45, 47, 48, 52, 53], "That": [1, 16, 38], "wai": [1, 10, 12, 16, 30, 38, 40, 47], "main": [1, 4, 6, 7, 10, 12, 15, 30, 38, 52, 58], "repo": [1, 4, 8, 18], "clean": 1, "featur": [1, 7, 15, 18, 20, 31, 52, 58], "branch": [1, 18], "check": [1, 2, 4, 6, 9, 13, 15, 16, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 35, 38, 46, 47, 50, 54, 58], "satisfi": 1, "befor": [1, 2, 9, 10, 16, 20, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 36, 37, 38, 45, 46], "thei": [1, 2, 4, 6, 7, 9, 14, 15, 16, 17, 23, 37, 38, 45, 47, 52], "can": [1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 34, 35, 36, 38, 40, 41, 43, 46, 47, 48, 50, 52, 58], "must": [1, 3, 5, 9, 10, 14, 18, 30, 34, 43, 45, 47], "approv": 1, "two": [1, 4, 6, 9, 10, 16, 18, 20, 23, 24, 26, 27, 28, 29, 30, 31, 32, 33, 35, 38, 40, 46, 47, 48, 52, 53, 54], "explicitli": 1, "onli": [1, 2, 4, 6, 7, 9, 10, 13, 16, 17, 18, 20, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 34, 35, 36, 38, 39, 40, 44, 45, 46, 47, 48, 49, 52, 55], "except": [1, 30], "other": [1, 2, 3, 4, 7, 9, 16, 18, 24, 29, 30, 33, 35, 38, 44, 46, 52, 54], "where": [1, 3, 6, 8, 9, 16, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 31, 33, 35, 36, 38, 44, 45, 46, 47, 48, 52, 54], "back": 1, "traceabl": 1, "discuss": [1, 7, 8, 23, 32, 46, 58], "suffici": [1, 3, 5, 9, 40], "note": [1, 4, 10, 15, 20, 47, 48, 58], "still": [1, 2, 20, 23, 24, 25, 26, 27, 28, 29, 31, 37, 46], "encourag": 1, "help": [1, 10, 12, 15, 16, 17, 36, 38], "u": [1, 3, 5, 10, 18, 45], "increas": [1, 25, 48], "pace": 1, "veri": [1, 2, 3, 5, 6, 14], "like": [1, 2, 3, 4, 5, 6, 7, 8, 16, 22, 23, 30], "find": [1, 3, 5, 12, 25], "issu": [1, 6, 7, 8, 58], "nobodi": 1, "els": 1, "squash": 1, "messag": [1, 6, 10, 17, 26, 27, 28, 30, 36, 40, 43, 44, 45, 46, 47, 50, 52, 53, 58], "comment": [1, 30], "fixup": 1, "linter": 1, "us": [1, 2, 4, 6, 7, 8, 12, 13, 14, 15, 17, 19, 30, 33, 34, 35, 36, 37, 39, 40, 41, 42, 43, 44, 45, 46, 49, 50, 52, 53, 54, 55, 58], "pre": 1, "correct": [1, 2, 36, 46], "header": [1, 13, 16, 27, 28, 38, 46], "address": [1, 30], "similar": [1, 4, 7, 14, 20, 22, 23, 30], "mean": [1, 2, 9, 14, 15, 20, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 36, 46, 47, 53], "result": [1, 4, 9, 10, 20, 30, 44, 46], "exactli": 1, "cowboi": 1, "style": [1, 16, 38], "over": [1, 6, 9, 25, 30], "weekend": 1, "It": [1, 2, 3, 4, 6, 9, 10, 20, 23, 24, 26, 27, 28, 29, 30, 31, 32, 40, 44, 45, 46, 48], "doesn": [1, 9, 48], "matter": 1, "trivial": [1, 15], "chanc": 1, "proper": [1, 9, 10, 47], "Be": 1, "awar": 1, "impact": 1, "proport": [1, 45, 48], "its": [1, 2, 3, 4, 5, 6, 7, 9, 10, 14, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 40, 41, 42, 43, 44, 45, 46, 48, 50, 52, 53, 54], "ping": 1, "them": [1, 6, 9, 10, 16, 19, 20, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 38, 44, 46, 57], "necessari": [1, 9, 13], "repeatedli": 1, "start": [1, 2, 3, 5, 7, 9, 10, 13, 18, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 36, 38, 45, 46, 53, 58], "part": [1, 6, 7, 14, 30, 38, 46, 47, 48], "For": [1, 3, 4, 5, 6, 7, 9, 10, 13, 15, 16, 18, 19, 20, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 38, 45, 47, 48, 52, 54], "detail": [1, 2, 3, 4, 5, 10, 13, 14, 15, 16, 23, 30, 32, 33, 35, 36, 38, 46, 47, 54], "cokela": 1, "info": [1, 10, 12, 13, 16, 30], "tutori": [1, 18], "sphinx": 1, "rest_syntax": 1, "html": 1, "id8": 1, "type": [1, 2, 3, 4, 5, 7, 9, 10, 11, 12, 13, 16, 17, 18, 24, 25, 27, 28, 29, 30, 36, 37, 38, 39, 40, 43, 45, 48, 49, 50, 52, 55], "stabl": 1, "against": 1, "accept": [1, 16, 26, 38, 39, 45, 46, 47, 49, 55], "api": [1, 3, 5, 6, 16, 20, 22, 24, 25, 26, 27, 28, 29, 31], "abi": 1, "e": [1, 2, 3, 4, 5, 6, 7, 9, 10, 14, 15, 16, 18, 20, 21, 23, 24, 26, 27, 28, 29, 30, 31, 32, 34, 36, 38, 39, 40, 44, 45, 46, 48, 49, 52, 53, 55, 58], "name": [1, 2, 3, 4, 5, 7, 10, 12, 14, 15, 16, 17, 18, 20, 23, 24, 25, 27, 28, 29, 30, 32, 34, 36, 38, 40, 41, 43, 44, 45, 48, 50, 52, 53], "convent": [1, 30], "master": [1, 4, 18, 30], "semi": 1, "binari": 1, "good": [1, 3, 5, 6, 36, 53], "same": [1, 8, 9, 12, 26, 30, 37, 40, 45, 46, 47, 48], "build": [1, 8, 16, 30, 34, 38], "dai": 1, "ros_distro": [1, 4, 18, 20], "foxi": [1, 7, 16], "galact": [1, 13, 16], "releas": [1, 4, 7, 18, 30], "version": [1, 6, 8, 12, 18, 47], "non": [1, 7, 23, 30, 40], "brake": 1, "distribut": [1, 18, 58], "three": [1, 2, 4, 13, 14, 18, 30, 38, 46, 54], "stage": [1, 9, 23], "current": [1, 6, 12, 13, 14, 16, 17, 46, 47, 52], "futur": [1, 7, 9, 46, 47], "compat": [1, 2, 7, 16, 18], "packag": [1, 2, 3, 5, 13, 16, 30, 33, 34, 35, 36, 38, 39, 40, 43, 47, 48, 49, 50, 52, 54, 55, 58], "direct": [1, 2, 6, 16, 30, 38, 45], "local": [1, 3, 5, 8, 19, 20, 22, 23, 24, 25, 26, 27, 28, 29, 31, 32, 44], "possibl": [1, 4, 6, 10, 14, 15, 18, 20, 22, 24, 25, 26, 27, 28, 29, 31, 34, 38, 46], "core": [1, 11, 30], "immedi": [1, 10, 20, 23, 24, 26, 27, 28, 29, 30, 31, 32, 48], "depend": [1, 4, 8, 13, 14, 16, 18, 19, 20, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 37, 38, 46, 48, 52], "fail": [1, 26, 30], "expect": [1, 6, 7, 8, 23, 30, 33, 35, 36, 47, 52, 53, 54], "after": [1, 9, 10, 15, 16, 18, 20, 30, 36, 38, 45, 46, 47, 52, 53], "next": [1, 20, 30, 46], "sync": 1, "abl": 1, "potenti": [1, 7, 8, 38, 45], "mid": 1, "power": [1, 3, 5, 7, 16], "plausibl": 1, "analyt": 1, "robothw": 2, "rigid": 2, "ani": [2, 4, 7, 9, 10, 13, 14, 18, 23, 30, 38, 45, 47], "imposs": 2, "extend": [2, 4, 6, 9, 16, 38], "exist": [2, 4, 6, 7, 8, 9, 10, 13, 14, 16, 20, 22, 24, 25, 26, 27, 28, 29, 30, 31, 34, 38, 47], "addit": [2, 3, 5, 9, 18, 21, 25, 30], "sensor": [2, 4, 6, 13, 15, 16, 18, 24, 29, 30, 34, 37, 57], "actuat": [2, 4, 6, 13, 14, 15, 16, 18, 23, 53], "tool": [2, 3, 5, 6, 7, 8, 30, 34], "without": [2, 3, 4, 5, 7, 10, 15, 16, 18, 23, 32, 38, 45, 46], "combinedrobothardwar": 2, "drawback": [2, 58], "solut": [2, 7, 8], "optim": [2, 10], "combin": [2, 9, 14, 15, 18, 26, 44, 46, 47, 48], "extern": [2, 4, 6, 9, 15, 18, 34, 48], "defin": [2, 3, 5, 6, 10, 15, 16, 18, 30, 34, 38, 40, 43, 44, 45, 46, 47, 48, 50, 52], "system": [2, 3, 4, 5, 6, 7, 8, 12, 13, 14, 16, 17, 18, 20, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 45, 47, 56, 57, 58], "composit": [2, 7], "basic": [2, 3, 4, 5, 6, 7, 16, 18, 25, 38], "physic": [2, 4, 13, 14, 15], "cell": [2, 40], "surround": 2, "describ": [2, 4, 9, 14, 18, 20, 26, 30, 32, 36, 46], "multi": [2, 4, 6, 7, 8, 18, 26], "gripper": [2, 3, 4, 5, 7, 14, 15, 37], "out": [2, 3, 5, 10, 30, 36], "box": [2, 18, 20, 22, 25, 26, 27, 28, 31, 32], "allow": [2, 3, 4, 5, 18, 30, 42, 45, 46, 47, 51], "joint": [2, 4, 7, 18, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 41, 42, 44, 45, 46, 48, 49, 52, 53, 54, 55, 58], "posit": [2, 3, 4, 5, 7, 10, 14, 15, 17, 18, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 34, 36, 37, 39, 44, 45, 46, 47, 48, 49, 52, 55], "veloc": [2, 3, 4, 5, 7, 9, 18, 22, 24, 25, 26, 30, 34, 35, 36, 37, 42, 43, 44, 45, 46, 47, 48, 49, 52, 55], "effort": [2, 3, 5, 18, 30, 37, 39, 42, 44, 45, 47, 48], "hard": [2, 10], "data": [2, 4, 6, 15, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 36, 37, 44, 46, 53], "approach": [2, 9, 12], "doe": [2, 10, 16, 20, 22, 24, 25, 26, 27, 28, 29, 30, 31, 38, 46, 47], "enforc": [2, 26, 30], "string": [2, 10, 15, 18, 34, 36, 38, 40, 41, 42, 43, 44, 45, 48, 50, 52, 53], "ensur": [2, 7, 10, 30, 46], "constant": [2, 18], "hardware_interfac": [2, 3, 4, 5, 12, 13, 15, 16, 18, 24, 27, 28, 29, 30, 34, 36, 37, 38], "In": [2, 3, 4, 5, 6, 7, 9, 12, 16, 18, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 37, 38, 44, 46, 52], "had": 2, "itself": [2, 9], "took": 2, "care": [2, 6, 10, 16, 26, 38, 47], "regist": [2, 3, 5], "resourc": [2, 3, 5, 16, 26], "conflict": [2, 4, 6], "resourcemanag": [2, 9], "take": [2, 6, 9, 16, 23, 26, 36, 38, 44, 46], "state": [2, 3, 4, 5, 6, 7, 9, 10, 12, 13, 14, 15, 16, 17, 18, 20, 21, 22, 23, 25, 26, 27, 28, 29, 30, 31, 32, 37, 38, 40, 44, 45], "avail": [2, 4, 7, 9, 17, 18, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 38, 44, 47], "enabl": [2, 4, 6, 7, 13, 16, 17, 18, 25, 34, 36, 40, 48, 52], "anymor": 2, "controllermanag": [2, 10], "implement": [2, 3, 4, 5, 6, 7, 10, 12, 14, 15, 16, 18, 20, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 33, 34, 35, 36, 38, 41, 46, 47, 48, 52, 53, 54, 58], "systeminterfac": [2, 3, 5, 12, 15, 27, 30], "granular": 2, "sensorinterfac": [2, 24, 28], "actuatorinterfac": [2, 24, 29], "abov": [2, 20, 21, 23, 24, 25, 26, 27, 28, 29, 31, 32, 37, 46], "choos": [2, 18, 52], "suitabl": [2, 7], "strategi": [2, 18, 46], "decid": [2, 12], "which": [2, 3, 4, 5, 6, 7, 8, 10, 12, 16, 17, 18, 20, 22, 25, 26, 27, 28, 29, 30, 31, 32, 34, 36, 37, 38, 40, 43, 44, 45, 46, 47, 50, 52, 53], "case": [2, 3, 5, 6, 7, 9, 18, 23, 30, 38, 44, 46, 47, 58], "mayb": [2, 9], "sens": [2, 4, 37, 40], "multipl": [2, 4, 7, 9, 14, 16, 18, 44], "constructor": [2, 16, 30, 38], "initi": [2, 14, 15, 16, 30, 38, 46], "variabl": [2, 12, 16, 30, 38, 45], "need": [2, 3, 4, 5, 6, 7, 9, 14, 16, 18, 20, 22, 24, 25, 26, 27, 28, 29, 30, 31, 34, 37, 38, 46, 48], "commun": [2, 4, 6, 7, 12, 16, 18, 20, 22, 24, 25, 26, 27, 28, 30, 31], "default": [2, 4, 9, 10, 15, 22, 26, 33, 34, 35, 36, 38, 40, 41, 42, 43, 44, 45, 46, 47, 48, 50, 52, 53, 54], "configur": [2, 3, 4, 5, 6, 7, 9, 10, 13, 15, 18, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 38, 44, 45, 46, 47, 52], "paramet": [2, 3, 5, 7, 8, 12, 16, 18, 20, 25, 30, 38, 47], "pars": [2, 3, 5, 10, 11, 14], "urdf": [2, 7, 10, 12, 14, 18, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 31, 32, 34], "snippet": 2, "hardwareinfo": [2, 12, 30], "here": [2, 11, 16, 30, 38, 39, 47, 49, 55], "cross": [2, 44], "valu": [2, 4, 6, 12, 14, 15, 16, 18, 20, 21, 23, 25, 27, 28, 30, 32, 34, 36, 38, 40, 43, 44, 45, 47, 50, 52, 53], "export_": 2, "_interfac": [2, 16], "joint_a2": 2, "extract": [2, 36, 53], "sensibl": 2, "stop": [2, 7, 9, 10, 13, 17, 20, 25, 26, 30, 36, 45, 53], "usual": [2, 4, 10, 15, 16, 30, 34, 38], "includ": [2, 3, 5, 6, 8, 10, 13, 16, 17, 22, 30, 34, 38, 47, 53, 57], "command": [2, 3, 4, 5, 6, 7, 8, 10, 11, 14, 15, 16, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 35, 36, 37, 38, 39, 41, 42, 45, 46, 49, 51, 54, 55, 58], "safe": [2, 30, 36, 38, 47, 53], "interrupt": [2, 10], "stream": [2, 7], "write": [2, 4, 7, 9, 10, 11, 12, 23, 24, 25, 29, 34, 37, 48], "exchang": [2, 6, 20, 22, 24, 25, 26, 27, 28, 29, 31, 58], "equival": [2, 30], "forget": [2, 4, 18, 47], "pluginlib_export_class": [2, 16, 18, 30, 38], "macro": [2, 4, 12, 16, 18, 30, 38], "end": [2, 4, 13, 16, 30, 34, 38, 45], "cpp": [2, 16, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 38], "file": [2, 3, 4, 5, 6, 7, 10, 12, 15, 16, 18, 34, 36, 38, 39, 40, 47, 49, 55], "creat": [2, 3, 4, 5, 7, 10, 15, 16, 18, 22, 30, 38], "xml": [2, 3, 5, 12, 13, 16, 30, 38], "librari": [2, 4, 16, 17, 22, 33, 35, 37, 38, 48, 52, 54], "pluginlib": [2, 3, 4, 5, 10, 16, 30, 38, 48], "exampl": [2, 3, 4, 5, 6, 7, 9, 10, 15, 17, 22, 25, 34, 36, 39, 40, 47, 48, 49, 53, 55, 58], "rrbotsystempositiononlyhardwar": [2, 4, 14, 17, 20, 23, 28], "excel": 2, "jointtrajectorycontrol": [2, 3, 5, 17, 20, 34, 47], "real": [2, 6, 7, 10, 15, 25, 38, 44, 45, 58], "critic": [2, 6], "mark": [2, 23], "controllerinterfac": [2, 4, 9, 17, 30, 38], "member": [2, 16, 30, 38, 46], "init": 2, "call": [2, 3, 4, 5, 9, 12, 16, 25, 30, 38], "lifecycl": [2, 4, 7, 10, 13, 16, 30, 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[3, 5, 9, 18, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32], "rm": [3, 4, 5, 18, 20, 32], "net": [3, 5, 7, 18, 20, 32], "host": [3, 5, 18, 20, 32, 57], "ros2": [3, 4, 5, 7, 10, 16, 17, 18, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 38], "launch": [3, 4, 5, 10, 15, 18, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 31, 32], "cart_example_posit": [3, 5], "py": [3, 5, 18, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32], "fals": [3, 5, 12, 15, 18, 20, 22, 32, 34, 36, 42, 44, 45, 47, 48, 52, 53], "machin": [3, 4, 5, 6, 18, 32], "client": [3, 5, 32, 47], "gzclient": [3, 32], "rocker": [3, 5], "go": [3, 5, 7, 10, 16, 30, 38], "imag": [3, 5, 10, 32], "inject": [3, 5, 7, 8], "nvidia": [3, 5], "And": 3, "user": [3, 5, 6, 10, 18, 30, 46], "id": [3, 5, 17, 20, 22, 24, 25, 26, 27, 28, 29, 31, 34, 36], "specif": [3, 5, 6, 9, 10, 12, 13, 14, 30, 32, 41, 44, 46, 47], "cleaner": [3, 5], "mount": [3, 5], "permiss": [3, 5, 10], "instal": [3, 5, 8, 10, 16, 19, 20, 22, 23, 24, 25, 26, 27, 28, 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46, 47, 48, 53, 54], "filenam": [3, 5, 30], "libgazebo_ros2_control": 3, "so": [3, 4, 5, 9, 10, 16, 30, 34, 38, 47], "robot_param": [3, 5], "robot_descript": [3, 5, 10, 20, 30], "robot_param_nod": [3, 5], "robot_state_publish": [3, 5, 22, 44], "config": [3, 5, 18], "cart_control": [3, 5], "yaml": [3, 4, 5, 6, 8, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 47], "controller_manager_nam": 3, "simulation_controller_manag": 3, "locat": [3, 8, 30, 34, 36, 40, 42, 43, 44, 45, 50], "server": [3, 42, 47], "node": [3, 4, 5, 10, 12, 13, 15, 17, 20, 22, 24, 25, 26, 27, 28, 29, 30, 31, 32, 38, 53], "hold_joint": [3, 5], "true": [3, 5, 12, 22, 25, 32, 34, 36, 45, 46, 47, 48, 52, 53], "hold": [3, 5, 46], "wa": [3, 5, 6, 8, 16, 20, 25, 26, 30, 38, 46], "claim": [3, 5, 9, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 34], "hasn": [3, 5], "been": [3, 5, 23], "yet": [3, 5, 9, 10, 18, 23, 36, 46, 47], "controller_manag": [3, 4, 5, 6, 10, 17, 26, 37, 38, 39, 47, 49, 55], "attempt": [3, 5, 10, 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"stateinterfac": [3, 5, 30], "topic": [3, 5, 6, 7, 9, 14, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 31, 32, 36, 37, 47, 48, 53, 56], "sensor_msg": [3, 5, 43, 50], "msg": [3, 5, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 31, 32, 34, 36, 39, 40, 41, 43, 46, 47, 48, 49, 50, 52, 55], "jointstat": [3, 5], "joint_trajectory_control": [3, 5, 6, 17, 20, 37, 45, 51], "action": [3, 5, 9, 45], "follow_joint_trajectori": [3, 5, 47], "control_msg": [3, 5, 34, 45, 47, 48, 52, 58], "followjointtrajectori": [3, 5, 45, 47], "ros__paramet": [3, 5, 34, 36, 39, 40, 42, 43, 44, 45, 47, 49, 50, 55], "update_r": [3, 5, 10, 37, 39, 49, 55], "100": [3, 4, 12, 14, 39, 49, 55], "hz": [3, 5, 36, 39, 42, 49, 55], "jointstatebroadcast": [3, 5, 17, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 31, 32], "interface_nam": [3, 21, 40, 41], "contain": [3, 8, 18, 19, 20, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 34, 36, 39, 40, 42, 43, 44, 45, 46, 48, 49, 50, 52, 55], "content": [3, 16, 30, 38], "There": [3, 4, 5, 10, 13, 16, 18, 22, 24, 27, 28, 29, 38, 46, 47], "meter": [3, 5, 30], "cart_example_veloc": [3, 5], "cart_example_effort": [3, 5], "diff_driv": 3, "tricycle_dr": 3, "world": [3, 5, 10, 15, 22, 30, 34], "example_veloc": [3, 5], "example_effort": [3, 5], "example_diff_dr": [3, 5], "example_tricycle_dr": [3, 5], "parallel": [3, 4, 5, 14, 15], "gripper_mimic_joint_exampl": [3, 5], "send": [3, 5, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 46, 47, 48], "example_gripp": [3, 5], "roll": [4, 8, 18, 30, 36, 53], "want": [4, 8, 9, 10, 18], "download": [4, 18], "repositori": [4, 6, 11, 14, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 31, 32, 34, 36, 37], "mkdir": [4, 8, 18], "p": [4, 8, 10, 18, 45, 48], "src": [4, 8, 16, 18, 20, 30, 32, 34, 36, 38, 40, 42, 43, 44, 45, 50], "wget": 4, "raw": 4, "githubusercont": 4, "com": [4, 6, 8, 18, 30], "org": [4, 6, 12, 33, 35, 54], "ros_control": [4, 6, 7, 58], "vc": [4, 8, 18], "import": [4, 8, 16, 18, 30, 38, 45], "rosdep": [4, 18], "rosdistro": [4, 18], "sudo": [4, 8, 10, 18], "apt": [4, 8, 10, 18], "path": [4, 7, 18, 30, 47], "ignor": [4, 10, 18, 36, 45, 52, 53], "r": [4, 18, 31], "y": [4, 18, 22, 25, 27, 28, 34, 40, 43], "everyth": [4, 16, 18, 20, 22, 23, 24, 25, 26, 27, 28, 29, 31, 32, 38], "opt": [4, 8, 18, 20], "setup": [4, 8, 15, 16, 18, 20, 25, 30, 32, 38, 46, 48], "sh": [4, 18, 20, 32], "colcon": [4, 8, 16, 18, 30, 38], "symlink": [4, 8, 18, 30], "folder": [4, 7, 16, 18, 20, 21, 22, 25, 33, 34, 35, 36, 38, 40, 42, 43, 44, 45, 50, 52, 54], "found": [4, 10, 11, 16, 20, 21, 22, 25, 34, 36, 38, 40, 41, 43, 47, 50, 58], "github": [4, 6, 8, 11, 18, 30, 37, 56, 57, 58], "figur": [4, 46], "uml": 4, "diagram": [4, 17], "intern": [4, 6, 9, 12, 14, 16, 20, 22, 23, 24, 25, 26, 27, 28, 29, 31, 34, 46, 47], "cm": [4, 10], "abstract": [4, 7, 13, 30], "side": [4, 6, 7, 36], "entri": [4, 38], "point": [4, 30, 34, 38, 45, 46, 47, 48, 58], "servic": [4, 6, 10, 13, 30, 37], "executor": [4, 10], "custom": [4, 14, 15, 18, 24, 25, 40, 44, 45, 56], "howev": [4, 6, 9, 10, 18, 23, 30], "recommend": [4, 7, 8, 16, 48], "ros2_control_nod": [4, 26, 30], "assum": [4, 9, 34], "On": [4, 7, 8, 30], "hand": [4, 30, 57], "unload": [4, 10, 17], "match": [4, 18, 46], "report": [4, 6, 44, 58], "error": [4, 6, 10, 12, 16, 23, 26, 30, 34, 38, 44, 45, 47, 48], "execut": [4, 12, 16, 18, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 35, 38, 42, 45, 46, 47, 54], "loop": [4, 7, 10, 15, 20, 26, 27, 28, 29, 30, 31, 32, 38, 44, 45, 47, 52], "output": [4, 6, 7, 14, 17, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 34, 53], "driver": [4, 7, 18, 30, 57], "reus": [4, 7, 9], "flexibl": 4, "motor": [4, 9, 57], "encod": [4, 30, 36, 53], "theori": [4, 58], "compar": [4, 6, 7], "refer": [4, 9, 22, 23, 30, 57], "measur": [4, 15, 24, 34, 40, 44, 45, 57], "calcul": [4, 22, 30, 34, 36, 46, 52, 53], "input": [4, 6, 7, 8, 9, 14, 21, 23, 30, 34, 36, 39, 41, 45, 46, 49, 52, 53, 55], "object": [4, 30], "deriv": [4, 45, 46, 48], "controller_interfac": [4, 17, 30, 34, 38, 40, 43, 50], "export": [4, 9, 10, 16, 18, 30, 34, 38], "plugin": [4, 8, 10, 12, 13, 14, 15, 16, 17, 18, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 31, 32, 34, 38, 48, 51], "forwardcommandcontrol": [4, 20, 21, 23, 24, 26, 27, 28, 29, 31, 32], "lifecyclenod": [4, 38], "document": [4, 6, 7, 14, 15, 16, 18, 25, 37, 46, 47], "list": [4, 7, 9, 10, 13, 16, 17, 23, 30, 38, 40, 56, 57, 58], "srv": [4, 47, 48], "controller_manager_msg": 4, "while": [4, 6, 7, 30, 34, 46], "directli": [4, 15, 20, 23, 32, 48, 58], "friendli": 4, "cli": [4, 10, 11, 17, 20, 21, 22, 25, 26, 27, 28, 29, 31, 32], "auto": [4, 10], "complet": [4, 13, 23, 30, 46], "rang": [4, 14, 37], "common": [4, 6, 18, 44, 58], "capabl": [4, 6], "realiz": [4, 7, 46, 47], "repres": [4, 13, 30, 36, 37, 46], "dynam": [4, 16, 22, 30, 34, 38, 48], "dof": [4, 14, 18, 30, 42, 48], "differ": [4, 6, 7, 11, 13, 14, 16, 18, 20, 21, 25, 26, 30, 36, 39, 40, 44, 46, 48, 49, 52, 55], "transmiss": [4, 18], "humanoid": 4, "logic": 4, "channel": [4, 57], "kuka": [4, 20, 26, 27, 28, 57], "rsi": [4, 20, 27, 28, 57], "relat": [4, 6, 7], "forc": [4, 7, 14, 17, 27, 28, 34, 37, 57], "torqu": [4, 14, 27, 28, 34, 37], "simpl": [4, 6, 7, 9, 16, 18, 20, 22, 23, 25, 30, 31, 38, 42], "valv": [4, 14], "mandatori": [4, 10], "dc": 4, "arduino": [4, 24, 29], "board": 4, "modular": [4, 7, 8, 18, 30], "independ": [4, 7, 10, 28], "explan": [4, 10, 16], "given": [4, 10, 19, 20, 22, 23, 24, 25, 26, 27, 28, 29, 31, 39, 46, 47, 49, 55], "through": [4, 6, 7, 9, 10, 16, 17, 18, 23, 30, 38, 47, 48, 58], "tag": [4, 10, 14, 16, 18, 20, 21, 22, 23, 24, 25, 26, 27, 29, 30, 31, 32, 38, 58], "chosen": [4, 14], "structur": [4, 6, 9, 10, 16, 30, 36, 38, 45, 46], "track": [4, 33, 54, 58], "togeth": [4, 9, 14, 25, 27, 52], "xacro": [4, 10, 12, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32], "hereund": 4, "rrbot": [4, 14, 17, 18, 21, 22, 24, 26, 27, 28, 29, 31], "effector": [4, 34], "site": 4, "rrbotsystempositiononli": [4, 28], "ros2_control_demo_hardwar": [4, 14, 17], "example_param_write_for_sec": 4, "example_param_read_for_sec": [4, 14], "joint1": [4, 14, 15, 17, 20, 21, 23, 24, 26, 27, 28, 29, 31, 32, 34, 47], "joint2": [4, 14, 17, 20, 21, 23, 24, 26, 27, 28, 29, 31, 32, 34, 47], "rrbotforcetorquesensor1d": 4, "forcetorquesensor1dhardwar": 4, "tcp_fts_sensor": [4, 14, 27, 28], "frame_id": [4, 14, 27, 28, 40, 43, 50, 52], "rrbot_tcp": 4, "min_forc": 4, "max_forc": 4, "rrbotgripp": 4, "positionactuatorhardwar": 4, "gripper_joint": 4, "instead": [4, 15, 25, 30, 32, 34, 45, 48], "pure": 4, "stack": [4, 7, 58], "could": [4, 7, 9, 18, 26, 38, 44, 47], "altern": [4, 8, 10, 20, 47], "script": [4, 6, 16, 38], "skeleton": 4, "sim": [5, 17, 56], "dockerfil": [5, 18], "Then": [5, 9, 18, 30, 32, 46], "ign": 5, "meet": [5, 58], "prerequisit": 5, "along": 5, "gazebosimsystem": 5, "libgz_ros2_control": 5, "gazebosimros2controlplugin": 5, "gazebosimsysteminterfac": 5, "controller_manager_prefix_node_nam": 5, "diff_drive_exampl": 5, "tricycle_drive_exampl": 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"modifying-or-building-your-own"]], "To run the demo": [[3, "to-run-the-demo"], [5, "to-run-the-demo"]], "Add ros2_control tag to a URDF": [[3, "add-ros2-control-tag-to-a-urdf"], [5, "add-ros2-control-tag-to-a-urdf"]], "Simple setup": [[3, "simple-setup"], [5, "simple-setup"]], "Using mimic joints in simulation": [[3, "using-mimic-joints-in-simulation"], [5, "using-mimic-joints-in-simulation"]], "Add the gazebo_ros2_control plugin": [[3, "add-the-gazebo-ros2-control-plugin"]], "Default gazebo_ros2_control Behavior": [[3, "default-gazebo-ros2-control-behavior"]], "Advanced: custom gazebo_ros2_control Simulation Plugins": [[3, "advanced-custom-gazebo-ros2-control-simulation-plugins"]], "Set up controllers": [[3, "set-up-controllers"], [5, "set-up-controllers"]], "gazebo_ros2_control_demos": [[3, "gazebo-ros2-control-demos"]], "Getting Started": [[4, "getting-started"]], "Installation": [[4, "installation"], [18, "installation"]], "Binary packages": [[4, "binary-packages"]], "Building 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ros2_control": [[6, "tutorials-and-demos-for-ros2-control"]], "Mission-Control for ros2_control": [[6, "mission-control-for-ros2-control"]], "Add support for hardware semantic components": [[6, "add-support-for-hardware-semantic-components"]], "Feature-parity for controllers from ROS1": [[6, "feature-parity-for-controllers-from-ros1"]], "Resources": [[7, "resources"]], "Presentations": [[7, "presentations"]], "2023-10-18 ROSCon Workshop: ros2_control on Steroids": [[7, "roscon-workshop-ros2-control-on-steroids"]], "2023-02 ROS Meetup Munich #5": [[7, "ros-meetup-munich-5"]], "2022-12 ROS-Industrial Conference 2022": [[7, "ros-industrial-conference-2022"]], "2022-10 ROSCon 2022": [[7, "roscon-2022"]], "2022-06 ROSCon Fr 2022": [[7, "roscon-fr-2022"]], "2021-10 ROS World 2021": [[7, "ros-world-2021"]], "2021-10-07 Weekly Robotics Meetup #13": [[7, "weekly-robotics-meetup-13"]], "2021-06 ROSDevDay 2021": [[7, "rosdevday-2021"]], "2021-05 ROSCon Fr 2021": [[7, "roscon-fr-2021"]], "Diagrams": [[7, "diagrams"]], "Images": [[7, "images"]], "ROSCon 2023 Workshop": [[8, "roscon-2023-workshop"]], "ros2_control on Steroids": [[8, "ros2-control-on-steroids"]], "Summary": [[8, "summary"]], "Slides": [[8, "slides"]], "Before coming to the conference": [[8, "before-coming-to-the-conference"]], "People": [[8, "people"]], "Controller Chaining / Cascade Control": [[9, "controller-chaining-cascade-control"]], "Scope of the Document and Background Knowledge": [[9, "scope-of-the-document-and-background-knowledge"]], "Motivation, Purpose and Use": [[9, "motivation-purpose-and-use"]], "Implementation": [[9, "implementation"]], "A Controller Base-Class: ChainableController": [[9, "a-controller-base-class-chainablecontroller"]], "Inner Resource Management": [[9, "inner-resource-management"]], "Activation and Deactivation Chained Controllers": [[9, "activation-and-deactivation-chained-controllers"]], "Debugging outputs": [[9, "debugging-outputs"]], "Closing remarks": [[9, "closing-remarks"]], "Determinism": [[10, "determinism"]], "Parameters": [[10, "parameters"], [15, "parameters"], [33, "parameters"], [34, "parameters"], [35, "parameters"], [36, "parameters"], [39, "parameters"], [40, "parameters"], [41, "parameters"], [42, "parameters"], [43, "parameters"], [44, "parameters"], [48, "parameters"], [49, "parameters"], [50, "parameters"], [52, "parameters"], [53, "parameters"], [54, "parameters"], [55, "parameters"]], "Helper scripts": [[10, "helper-scripts"]], "spawner": [[10, "spawner"]], "unspawner": [[10, "unspawner"]], "Using the Controller Manager in a Process": [[10, "using-the-controller-manager-in-a-process"]], "Concepts": [[10, "concepts"], [11, "concepts"]], "Restarting all controllers": [[10, "restarting-all-controllers"]], "Restarting hardware": [[10, "restarting-hardware"]], "ros2_control": [[11, "ros2-control"]], "API Documentation": [[11, "api-documentation"]], "Features": [[11, "features"]], "Different update rates for Hardware Components": [[12, "different-update-rates-for-hardware-components"]], "By counting loops": [[12, "by-counting-loops"]], "By measuring elapsed time": [[12, "by-measuring-elapsed-time"]], "Guidelines and Best Practices": [[13, "guidelines-and-best-practices"], [37, "guidelines-and-best-practices"]], "Handling of errors that happen during read() and write() calls": [[13, "handling-of-errors-that-happen-during-read-and-write-calls"]], "Migration from Foxy to newer versions": [[13, "migration-from-foxy-to-newer-versions"]], "ros2_control hardware interface types": [[14, "ros2-control-hardware-interface-types"]], "Joints": [[14, "joints"]], "Sensors": [[14, "sensors"]], "GPIOs": [[14, "gpios"]], "Examples": [[14, "examples"], [18, "examples"]], "Mock Components": [[15, "mock-components"]], "Generic System": [[15, "generic-system"]], "Per-joint Parameters": [[15, "per-joint-parameters"]], "Per-interface Parameters": [[15, "per-interface-parameters"]], "Writing a Hardware Component": [[16, "writing-a-hardware-component"]], "Useful External References": [[16, "useful-external-references"], [38, "useful-external-references"]], "Command Line Interface": [[17, "command-line-interface"]], "list_controllers": [[17, "list-controllers"]], "list_controller_types": [[17, "list-controller-types"]], "list_hardware_components": [[17, "list-hardware-components"]], "list_hardware_interfaces": [[17, "list-hardware-interfaces"]], "load_controller": [[17, "load-controller"]], "reload_controller_libraries": [[17, "reload-controller-libraries"]], "set_controller_state": [[17, "set-controller-state"]], "switch_controllers": [[17, "switch-controllers"]], "unload_controller": [[17, "unload-controller"]], "view_controller_chains": [[17, "view-controller-chains"]], "Demos": [[18, "demos"]], "What you can find in this repository": [[18, "what-you-can-find-in-this-repository"]], "Goals": [[18, "goals"]], "Examples Overview": [[18, "examples-overview"]], "Local installation": [[18, "local-installation"]], "Build from debian packages": [[18, "build-from-debian-packages"]], "Build from source": [[18, "build-from-source"]], "Using Docker": [[18, "using-docker"]], "To view the robot": [[18, "to-view-the-robot"]], "To run the ros2_control demos": [[18, "to-run-the-ros2-control-demos"]], "Quick Hints": [[18, "quick-hints"]], "Example 1: RRBot": [[20, "example-1-rrbot"]], "Tutorial steps": [[20, "tutorial-steps"], [22, "tutorial-steps"], [23, "tutorial-steps"], [24, "tutorial-steps"], [25, "tutorial-steps"], [26, "tutorial-steps"], [27, "tutorial-steps"], [28, "tutorial-steps"], [29, "tutorial-steps"], [31, "tutorial-steps"], [32, "tutorial-steps"]], "Files used for this demos": [[20, "files-used-for-this-demos"], [21, "files-used-for-this-demos"], [22, "files-used-for-this-demos"], [23, "files-used-for-this-demos"], [24, "files-used-for-this-demos"], [25, "files-used-for-this-demos"], [26, "files-used-for-this-demos"], [28, "files-used-for-this-demos"], [29, "files-used-for-this-demos"], [31, "files-used-for-this-demos"], [32, "files-used-for-this-demos"]], "Controllers from this demo": [[20, "controllers-from-this-demo"], [21, "controllers-from-this-demo"], [22, "controllers-from-this-demo"], [23, "controllers-from-this-demo"], [24, "controllers-from-this-demo"], [25, "controllers-from-this-demo"], [26, "controllers-from-this-demo"], [27, "controllers-from-this-demo"], [28, "controllers-from-this-demo"], [29, "controllers-from-this-demo"], [31, "controllers-from-this-demo"], [32, "controllers-from-this-demo"]], "Example 10: Industrial robot with GPIO interfaces": [[21, "example-10-industrial-robot-with-gpio-interfaces"]], "CarlikeBot": [[22, "carlikebot"]], "Example 12: Controller chaining with RRBot": [[23, "example-12-controller-chaining-with-rrbot"]], "Example 14: Modular robot with actuators not providing states": [[24, "example-14-modular-robot-with-actuators-not-providing-states"]], "DiffBot": [[25, "diffbot"]], "Example 3: Robots with multiple interfaces": [[26, "example-3-robots-with-multiple-interfaces"]], "Example 4: Industrial robot with integrated sensor": [[27, "example-4-industrial-robot-with-integrated-sensor"]], "Files used for this demo": [[27, "files-used-for-this-demo"]], "Example 5: Industrial robot with externally connected sensor": [[28, "example-5-industrial-robot-with-externally-connected-sensor"]], "Example 6: Modular Robots with separate communication to each actuator": [[29, "example-6-modular-robots-with-separate-communication-to-each-actuator"]], "Example 7: Full tutorial with a 6DOF robot": [[30, "example-7-full-tutorial-with-a-6dof-robot"]], "ros2_control overview": [[30, "ros2-control-overview"]], "Writing a URDF": [[30, "writing-a-urdf"]], "Geometry": [[30, "geometry"]], "URDF file": [[30, "urdf-file"]], "Writing a hardware interface": [[30, "writing-a-hardware-interface"]], "Plugin description file (hardware)": [[30, "plugin-description-file-hardware"]], "CMake library (hardware)": [[30, "cmake-library-hardware"]], "Writing a controller": [[30, "writing-a-controller"]], "Plugin description file (controller)": [[30, "plugin-description-file-controller"]], "CMake library (controller)": [[30, "cmake-library-controller"]], "Launching the example": [[30, "launching-the-example"]], "Example 8: Industrial Robots with an exposed transmission interface": [[31, "example-8-industrial-robots-with-an-exposed-transmission-interface"]], "Example 9: Simulation with RRBot": [[32, "example-9-simulation-with-rrbot"]], "ackermann_steering_controller": [[33, "ackermann-steering-controller"]], "Admittance Controller": [[34, "admittance-controller"]], "ROS 2 interface of the controller": [[34, "ros-2-interface-of-the-controller"], [39, "ros-2-interface-of-the-controller"], [41, "ros-2-interface-of-the-controller"], [49, "ros-2-interface-of-the-controller"], [55, "ros-2-interface-of-the-controller"]], "Topics": [[34, "topics"], [39, "topics"], [41, "topics"], [49, "topics"], [55, "topics"]], "ros2_control interfaces": [[34, "ros2-control-interfaces"]], "References": [[34, "references"], [36, "references"], [47, "references"]], "States": [[34, "states"], [47, "states"], [48, "states"], [52, "states"]], "Commands": [[34, "commands"], [44, "commands"], [47, "commands"], [48, "commands"], [52, "commands"]], "bicycle_steering_controller": [[35, "bicycle-steering-controller"]], "diff_drive_controller": [[36, "diff-drive-controller"]], "Other features": [[36, "other-features"], [47, "other-features"], [53, "other-features"]], "Description of controller\u2019s interfaces": [[36, "description-of-controller-s-interfaces"], [47, "description-of-controller-s-interfaces"], [48, "description-of-controller-s-interfaces"], [52, "description-of-controller-s-interfaces"]], "Feedback": [[36, "feedback"]], "Output": [[36, "output"]], "ROS 2 Interfaces": [[36, "ros-2-interfaces"]], "Subscribers": [[36, "subscribers"], [48, "subscribers"], [52, "subscribers"]], "Publishers": [[36, "publishers"], [47, "publishers"], [48, "publishers"], [52, "publishers"]], "ros2_controllers": [[37, "ros2-controllers"]], "Controllers for Mobile Robots": [[37, "controllers-for-mobile-robots"]], "Controllers for Manipulators and Other Robots": [[37, "controllers-for-manipulators-and-other-robots"]], "Broadcasters": [[37, "broadcasters"]], "Common Controller Parameters": [[37, "common-controller-parameters"]], "Writing a new controller": [[38, "writing-a-new-controller"]], "effort_controllers": [[39, "effort-controllers"]], "effort_controllers/JointGroupEffortController": [[39, "effort-controllers-jointgroupeffortcontroller"]], "Force Torque Sensor Broadcaster": [[40, "force-torque-sensor-broadcaster"]], "forward_command_controller": [[41, "forward-command-controller"]], "Hardware interface type": [[41, "hardware-interface-type"], [44, "hardware-interface-type"]], "Gripper Action Controller": [[42, "gripper-action-controller"]], "List of parameters": [[42, "list-of-parameters"], [43, "list-of-parameters"], [44, "list-of-parameters"], [45, "list-of-parameters"], [50, "list-of-parameters"]], "An example parameter file": [[42, "an-example-parameter-file"], [43, "an-example-parameter-file"], [44, "an-example-parameter-file"], [45, "an-example-parameter-file"], [50, "an-example-parameter-file"]], "IMU Sensor Broadcaster": [[43, "imu-sensor-broadcaster"]], "joint_state_broadcaster": [[44, "joint-state-broadcaster"]], "Details about parameters": [[45, "details-about-parameters"]], "Trajectory Representation": [[46, "trajectory-representation"]], "Interpolation Method none": [[46, "interpolation-method-none"]], "Interpolation Method spline": [[46, "interpolation-method-spline"]], "Visualized Examples": [[46, "visualized-examples"]], "Trajectory Replacement": [[46, "trajectory-replacement"]], "joint_trajectory_controller": [[47, "joint-trajectory-controller"]], "Hardware interface types": [[47, "hardware-interface-types"]], "Using Joint Trajectory Controller(s)": [[47, "using-joint-trajectory-controller-s"]], "Preemption policy 1": [[47, "preemption-policy"]], "Actions 1": [[47, "actions"]], "Subscriber 1": [[47, "subscriber"]], "Services": [[47, "services"], [48, "services"]], "Further information": [[47, "further-information"]], "PID Controller": [[48, "pid-controller"]], "Execution logic of the controller": [[48, "execution-logic-of-the-controller"], [52, "execution-logic-of-the-controller"]], "Using the controller": [[48, "using-the-controller"]], "References (from a preceding controller)": [[48, "references-from-a-preceding-controller"], [52, "references-from-a-preceding-controller"]], "position_controllers": [[49, "position-controllers"]], "position_controllers/JointGroupPositionController": [[49, "position-controllers-jointgrouppositioncontroller"]], "Range Sensor Broadcaster": [[50, "range-sensor-broadcaster"]], "rqt_joint_trajectory_controller": [[51, "rqt-joint-trajectory-controller"]], "steering_controllers_library": [[52, "steering-controllers-library"]], "tricycle_controller": [[53, "tricycle-controller"]], "Velocity commands": [[53, "velocity-commands"]], "tricycle_steering_controller": [[54, "tricycle-steering-controller"]], "velocity_controllers": [[55, "velocity-controllers"]], "velocity_controllers/JointGroupVelocityController": [[55, "velocity-controllers-jointgroupvelocitycontroller"]], "Simulator Integrations": [[56, "simulator-integrations"]], "Hosted by ros-controls": [[56, "hosted-by-ros-controls"]], "Community": [[56, "community"]], "Supported Robots": [[57, "supported-robots"]], "Communication protocols": [[57, "communication-protocols"]], "End-effectors": [[57, "end-effectors"]], "Non robot-devices": [[57, "non-robot-devices"]], "Official (supported by robot manufacturer)": [[57, "official-supported-by-robot-manufacturer"]], "Unofficial (from the community)": [[57, "unofficial-from-the-community"]], "Welcome to the ros2_control documentation!": [[58, "welcome-to-the-ros2-control-documentation"]], "ros2_control Repositories": [[58, "ros2-control-repositories"]], "Development Organisation and Communication": [[58, "development-organisation-and-communication"]]}, "indexentries": {}})
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