Built on 2023-12-30 at 05:31 GMT
+Built on 2023-12-31 at 05:31 GMT
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"helper-scripts"]], "spawner": [[6, "spawner"]], "unspawner": [[6, "unspawner"]], "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, "set-controller-state"]], "switch_controllers": [[10, "switch-controllers"]], "unload_controller": [[10, "unload-controller"]], "Demos": [[11, "demos"]], "Repository organization": [[11, "repository-organization"]], "Mode switching demo": [[11, "mode-switching-demo"]], "diff_drive_controller": [[12, "diff-drive-controller"]], "Velocity commands": [[12, "velocity-commands"]], "Hardware interface type": [[12, "hardware-interface-type"], [15, "hardware-interface-type"], [17, "hardware-interface-type"], [19, "hardware-interface-type"], [20, "hardware-interface-type"], [21, "hardware-interface-type"], [22, "hardware-interface-type"]], "Other features": [[12, "other-features"], [20, "other-features"]], "ros2_controllers": [[13, "ros2-controllers"]], "Nomenclature": [[13, "nomenclature"]], "Guidelines and Best Practices": [[13, "guidelines-and-best-practices"]], "Available Controllers": [[13, "available-controllers"]], "Available Broadcasters": [[13, "available-broadcasters"]], "Writing a new 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 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21, 22, 23, 24, 25, 26, 27, 28, 29, 43, 44], "result": [1, 4, 8, 9, 18, 27, 41, 43], "exactli": 1, "cowboi": 1, "style": [1, 14, 35], "over": [1, 6, 8, 22, 27], "weekend": 1, "It": [1, 2, 3, 4, 6, 8, 9, 18, 20, 21, 23, 24, 25, 26, 27, 28, 29, 37, 41, 42, 43], "doesn": [1, 8], "matter": 1, "trivial": [1, 13], "chanc": 1, "proper": [1, 8, 9, 44], "Be": 1, "awar": 1, "impact": 1, "proport": [1, 42], "its": [1, 2, 3, 4, 5, 6, 7, 8, 9, 12, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 37, 38, 39, 40, 41, 43, 47, 49], "ping": 1, "them": [1, 6, 8, 9, 14, 17, 18, 20, 21, 22, 23, 24, 25, 26, 27, 28, 35, 41, 43, 52], "necessari": [1, 8, 11], "repeatedli": 1, "start": [1, 2, 3, 5, 7, 8, 9, 11, 16, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 35, 42, 43, 53], "part": [1, 6, 7, 12, 27, 35, 43, 44], "For": [1, 3, 4, 5, 6, 7, 8, 9, 11, 13, 14, 16, 17, 18, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 35, 42, 44, 47, 49], "detail": [1, 2, 3, 4, 5, 11, 12, 13, 14, 20, 27, 29, 30, 32, 33, 35, 43, 44, 49], "thoma": 1, "cokela": 1, "info": [1, 9, 11, 14, 27], "tutori": [1, 16], "sphinx": 1, "rest_syntax": 1, "html": 1, "id8": 1, "type": [1, 2, 3, 4, 5, 7, 8, 9, 10, 11, 14, 15, 16, 21, 22, 24, 25, 26, 27, 33, 34, 35, 36, 37, 40, 42, 45, 46, 47, 50], "stabl": 1, "against": 1, "accept": [1, 14, 23, 35, 36, 42, 43, 44, 45, 50], "api": [1, 3, 5, 6, 14, 18, 21, 22, 23, 24, 25, 26, 28], "abi": 1, "chang": [1, 2, 4, 7, 9, 11, 14, 15, 16, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 35, 42, 43, 44], "e": [1, 2, 4, 6, 7, 8, 9, 12, 13, 14, 16, 18, 19, 20, 21, 23, 24, 25, 26, 27, 28, 29, 31, 35, 36, 37, 41, 42, 43, 45, 47, 50, 53], "name": [1, 2, 3, 4, 5, 7, 9, 12, 13, 14, 15, 16, 18, 20, 21, 22, 24, 25, 26, 27, 29, 31, 35, 37, 38, 40, 41, 42, 46, 47], "convent": [1, 27], "master": [1, 4], "semi": 1, "binari": 1, "good": [1, 3, 5, 6], "same": [1, 8, 23, 27, 34, 37, 42, 43, 44], "build": [1, 14, 27, 31, 35], "dai": 1, "ros_distro": [1, 4, 16, 18], "foxi": [1, 7, 14], "galact": [1, 11, 14], "releas": [1, 4, 7, 16, 27], "version": [1, 6, 16, 44], "non": [1, 7, 20, 27, 37, 52], "brake": 1, "distribut": [1, 16, 53], "three": [1, 2, 4, 11, 12, 16, 27, 35, 43, 49], "stage": [1, 8, 20], "current": [1, 6, 11, 12, 14, 15, 43, 44, 47], "futur": [1, 7, 8, 43, 44], "compat": [1, 2, 7, 14, 16], "packag": [1, 2, 3, 5, 11, 14, 27, 30, 31, 32, 33, 35, 36, 37, 40, 44, 45, 46, 47, 49, 50, 53], "direct": [1, 2, 6, 14, 27, 35, 42], "local": [1, 3, 5, 17, 18, 20, 21, 22, 23, 24, 25, 26, 28, 29, 41], "possibl": [1, 4, 6, 9, 12, 16, 18, 21, 22, 23, 24, 25, 26, 28, 31, 35, 43], "core": [1, 10, 27], "immedi": [1, 18, 20, 21, 23, 24, 25, 26, 27, 28, 29], "depend": [1, 4, 11, 12, 14, 16, 17, 18, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 34, 35, 43, 47], "fail": [1, 23, 27], "expect": [1, 6, 20, 27, 30, 32, 44, 47, 49], "after": [1, 8, 9, 14, 16, 18, 27, 33, 35, 42, 43, 44, 47, 48], "next": [1, 18, 27, 43], "sync": 1, "abl": 1, "potenti": [1, 35, 42], "mid": 1, "stat": 1, 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8, 12, 16, 18, 23, 27, 29, 43], "multi": [2, 4, 6, 7, 16, 23], "gripper": [2, 3, 4, 5, 7, 12, 13, 34], "out": [2, 3, 5, 9, 27, 33], "box": [2, 16, 18, 22, 23, 24, 25, 28, 29], "allow": [2, 3, 4, 5, 16, 27, 39, 42, 43, 44], "joint": [2, 4, 7, 16, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 38, 39, 41, 42, 43, 45, 47, 49, 50, 53], "posit": [2, 3, 4, 5, 7, 9, 12, 15, 16, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 31, 33, 34, 36, 41, 42, 43, 44, 45, 47, 50], "veloc": [2, 3, 4, 5, 7, 8, 16, 21, 22, 23, 27, 31, 32, 33, 34, 39, 40, 41, 42, 43, 44, 45, 47, 50], "effort": [2, 3, 5, 16, 27, 34, 36, 39, 41, 42, 44], "hard": [2, 9], "data": [2, 4, 6, 13, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 34, 41, 43], "approach": [2, 8], "doe": [2, 8, 9, 14, 18, 21, 22, 23, 24, 25, 26, 27, 28, 35, 43, 44], "enforc": [2, 23, 27, 42], "string": [2, 9, 13, 16, 35, 38, 39, 40, 41, 42, 46, 47], "ensur": [2, 7, 9, 27, 43], "constant": [2, 16], "hardware_interfac": [2, 3, 4, 5, 11, 13, 14, 16, 21, 24, 25, 26, 27, 31, 33, 34, 35], "In": [2, 3, 4, 5, 6, 7, 8, 14, 16, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 34, 35, 41, 43, 47], "had": 2, "itself": [2, 8], "took": 2, "care": [2, 6, 9, 14, 23, 35, 44], "regist": [2, 3, 5], "resourc": [2, 3, 5, 14, 23], "conflict": [2, 4, 6], "resourcemanag": [2, 8], "take": [2, 6, 8, 14, 20, 23, 33, 35, 41, 43], "state": [2, 3, 4, 5, 6, 7, 9, 11, 12, 13, 14, 15, 16, 18, 19, 20, 22, 23, 24, 25, 26, 27, 28, 29, 34, 35, 37, 41, 42], "avail": [2, 4, 7, 9, 15, 16, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 35, 41, 44], "enabl": [2, 4, 6, 7, 11, 14, 15, 16, 22, 31, 37, 47], "anymor": 2, "controllermanag": [2, 9], "implement": [2, 3, 4, 5, 6, 7, 9, 12, 13, 14, 16, 18, 20, 21, 22, 23, 24, 25, 26, 27, 28, 30, 31, 32, 33, 35, 38, 43, 44, 47, 48, 49, 53], "systeminterfac": [2, 3, 5, 13, 24, 27], "granular": 2, "sensorinterfac": [2, 21, 25], "actuatorinterfac": [2, 21, 26], "abov": [2, 18, 19, 20, 21, 22, 23, 24, 25, 26, 28, 29, 34, 43], "choos": [2, 16, 47], "suitabl": [2, 7], "strategi": [2, 16, 43], "decid": 2, "which": [2, 3, 4, 5, 6, 7, 9, 14, 15, 16, 18, 22, 23, 24, 25, 26, 27, 28, 29, 33, 35, 37, 40, 41, 42, 43, 44, 46, 47, 48], "case": [2, 3, 5, 6, 7, 8, 16, 20, 27, 35, 41, 43, 44, 53], "mayb": [2, 8], "sens": [2, 4, 34, 37], "multipl": [2, 4, 7, 8, 12, 14, 16, 41, 42], "constructor": [2, 14, 27, 35], "initi": [2, 14, 27, 35, 43], "variabl": [2, 14, 27, 35, 42], "need": [2, 3, 4, 5, 6, 7, 8, 12, 14, 16, 18, 21, 22, 23, 24, 25, 26, 27, 28, 35, 43], "commun": [2, 4, 6, 7, 14, 16, 18, 21, 22, 23, 24, 25, 27, 28, 52], "default": [2, 4, 8, 9, 13, 23, 30, 32, 38, 39, 40, 41, 42, 43, 44, 46, 47, 49], "configur": [2, 3, 4, 5, 6, 7, 8, 9, 11, 13, 15, 16, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 35, 41, 42, 43, 44, 47], "paramet": [2, 3, 5, 7, 14, 16, 18, 22, 27, 34, 35, 44], "pars": [2, 3, 5, 9, 10, 12], "urdf": [2, 7, 9, 12, 16, 18, 19, 20, 21, 22, 23, 24, 25, 26, 28, 29], "snippet": 2, "hardwareinfo": [2, 27], "here": [2, 10, 14, 27, 35, 36, 44, 45, 50], "cross": [2, 41], "valu": [2, 4, 6, 12, 13, 14, 16, 18, 19, 20, 22, 24, 25, 27, 29, 35, 40, 41, 42, 44, 46, 47], "export_": 2, "_interfac": [2, 14], "joint_a2": 2, "extract": [2, 33, 48], "sensibl": 2, "stop": [2, 7, 8, 9, 11, 15, 18, 22, 23, 27, 33, 42, 48], "usual": [2, 4, 9, 13, 14, 27, 35], "includ": [2, 3, 5, 6, 11, 14, 15, 27, 35, 44, 52], "command": [2, 3, 4, 5, 6, 7, 9, 10, 12, 13, 14, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 32, 33, 34, 35, 36, 38, 39, 42, 43, 45, 49, 50, 53], "safe": [2, 27, 33, 35, 44, 48], "interrupt": [2, 9], "stream": [2, 7], "write": [2, 4, 7, 8, 9, 10, 20, 21, 22, 26, 34], "exchang": [2, 6, 18, 21, 22, 23, 24, 25, 26, 28, 53], "equival": [2, 27], "forget": [2, 4, 16, 44], "pluginlib_export_class": [2, 14, 16, 27, 35], "macro": [2, 4, 14, 16, 27, 35], "end": [2, 4, 11, 14, 27, 35, 42, 52], "cpp": [2, 14, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 35], "file": [2, 3, 4, 5, 6, 7, 9, 13, 14, 16, 31, 33, 35, 36, 44, 45, 50], "creat": [2, 3, 4, 5, 7, 9, 13, 14, 16, 27, 35], "xml": [2, 3, 5, 11, 14, 27, 35], "librari": [2, 4, 14, 15, 16, 30, 32, 34, 35, 47, 49], "pluginlib": [2, 3, 4, 5, 9, 14, 27, 35], "exampl": [2, 3, 4, 5, 6, 7, 8, 13, 15, 22, 31, 36, 37, 41, 44, 45, 50, 53], "rrbotsystempositiononlyhardwar": [2, 4, 12, 15, 18, 20, 25], "excel": 2, "jointtrajectorycontrol": [2, 3, 5, 15, 18, 31, 44], "real": [2, 6, 7, 9, 13, 22, 35, 41, 42, 53], "critic": [2, 6], "mark": [2, 20], "controllerinterfac": [2, 4, 8, 15, 27, 35], "member": [2, 14, 27, 35, 43], "init": 2, "call": [2, 3, 4, 5, 8, 14, 22, 27, 35], "lifecycl": [2, 4, 7, 9, 11, 14, 27], "declar": [2, 14, 27, 35], "state_interface_configur": [2, 27, 35], "command_interface_configur": [2, 27, 35], "design": [2, 4, 6, 7, 8, 27, 53], "updat": [2, 4, 8, 9, 16, 27, 35, 44, 47], "manag": [2, 3, 5, 6, 7, 10, 11, 14, 15, 16, 27, 35, 44, 53], "option": [2, 3, 5, 9, 11, 13, 14, 15, 18, 23, 35, 37, 41, 44, 47], "on_configur": [2, 14, 27, 35], "on_activ": [2, 11, 14, 27, 35], "on_deactiv": [2, 11, 14, 27, 35], "deactiv": [2, 4, 15, 18, 42], "final": [2, 7, 11, 27], "joint_trajectory_plugin": 2, "integr": [3, 4, 5, 6, 7, 13, 16, 20, 22, 27, 42, 43, 44, 53], "architectur": [3, 5, 6, 7], "gazebo": [3, 5, 6, 16, 18, 29, 51], "classic": [3, 16, 29, 51], "provid": [3, 4, 5, 6, 7, 8, 9, 12, 13, 14, 16, 18, 20, 23, 24, 25, 26, 27, 28, 29, 31, 35, 41, 42, 43, 44, 47, 53], "instanti": [3, 5, 9], "connect": [3, 4, 5, 13, 16, 24, 27], "model": [3, 5, 18, 27], "cd": [3, 4, 5, 16, 27], "docker": [3, 5, 17, 18, 20, 21, 22, 23, 24, 25, 26, 28, 29], "gui": [3, 5, 16, 18, 20, 21, 23, 24, 25, 26, 28, 29], "properli": [3, 5, 8, 16, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29], "rm": [3, 4, 5, 16, 18, 29], "net": [3, 5, 7, 16, 18, 29], "host": [3, 5, 16, 18, 29, 52], "ros2": [3, 4, 5, 7, 9, 14, 15, 16, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 35], "launch": [3, 4, 5, 9, 13, 16, 18, 19, 20, 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9, 13, 18, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 35, 41], "interfac": [3, 5, 6, 7, 8, 9, 10, 11, 13, 14, 16, 18, 20, 21, 22, 24, 25, 26, 29, 30, 32, 34, 35, 37, 40, 42, 43, 46, 49, 51, 52, 53], "gazebosystem": 3, "hardwar": [3, 5, 7, 8, 10, 13, 15, 16, 18, 19, 20, 21, 22, 23, 24, 25, 26, 28, 29, 33, 34, 35, 42, 48, 53], "slider_to_cart": [3, 5, 36, 45, 50], "command_interfac": [3, 4, 5, 12, 20, 27, 31, 42, 44], "param": [3, 4, 5, 9, 12, 13, 22, 27], "min": [3, 4, 5, 12, 27], "1000": [3, 5, 27], "max": [3, 4, 5, 12, 27, 39], "state_interfac": [3, 4, 5, 12, 27, 31, 42, 44], "initial_valu": [3, 5, 27], "mimick": [3, 5, 13], "manual": [3, 4, 5, 6, 9, 14, 16, 18, 23, 24, 25, 26, 28, 29, 35, 53], "multipli": [3, 5, 13], "definit": [3, 4, 5, 14, 27, 31, 33, 34, 35, 37, 42], "left_finger_joint": [3, 5], "prismat": [3, 5], "right_finger_joint": [3, 5], "axi": [3, 5, 6, 27, 30, 32, 33, 37, 49], "xyz": [3, 5, 27], "rpy": [3, 5, 27], "1415926535": [3, 5], "parent": [3, 5, 14, 27, 35], "base": 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29, 43, 44], "result": [1, 4, 8, 9, 18, 27, 41, 43], "exactli": 1, "cowboi": 1, "style": [1, 14, 35], "over": [1, 6, 8, 22, 27], "weekend": 1, "It": [1, 2, 3, 4, 6, 8, 9, 18, 20, 21, 23, 24, 25, 26, 27, 28, 29, 37, 41, 42, 43], "doesn": [1, 8], "matter": 1, "trivial": [1, 13], "chanc": 1, "proper": [1, 8, 9, 44], "Be": 1, "awar": 1, "impact": 1, "proport": [1, 42], "its": [1, 2, 3, 4, 5, 6, 7, 8, 9, 12, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 37, 38, 39, 40, 41, 43, 47, 49], "ping": 1, "them": [1, 6, 8, 9, 14, 17, 18, 20, 21, 22, 23, 24, 25, 26, 27, 28, 35, 41, 43, 52], "necessari": [1, 8, 11], "repeatedli": 1, "start": [1, 2, 3, 5, 7, 8, 9, 11, 16, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 35, 42, 43, 53], "part": [1, 6, 7, 12, 27, 35, 43, 44], "For": [1, 3, 4, 5, 6, 7, 8, 9, 11, 13, 14, 16, 17, 18, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 35, 42, 44, 47, 49], "detail": [1, 2, 3, 4, 5, 11, 12, 13, 14, 20, 27, 29, 30, 32, 33, 35, 43, 44, 49], "thoma": 1, "cokela": 1, "info": [1, 9, 11, 14, 27], "tutori": [1, 16], "sphinx": 1, "rest_syntax": 1, "html": 1, "id8": 1, "type": [1, 2, 3, 4, 5, 7, 8, 9, 10, 11, 14, 15, 16, 21, 22, 24, 25, 26, 27, 33, 34, 35, 36, 37, 40, 42, 45, 46, 47, 50], "stabl": 1, "against": 1, "accept": [1, 14, 23, 35, 36, 42, 43, 44, 45, 50], "api": [1, 3, 5, 6, 14, 18, 21, 22, 23, 24, 25, 26, 28], "abi": 1, "chang": [1, 2, 4, 7, 9, 11, 14, 15, 16, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 35, 42, 43, 44], "e": [1, 2, 4, 6, 7, 8, 9, 12, 13, 14, 16, 18, 19, 20, 21, 23, 24, 25, 26, 27, 28, 29, 31, 35, 36, 37, 41, 42, 43, 45, 47, 50, 53], "name": [1, 2, 3, 4, 5, 7, 9, 12, 13, 14, 15, 16, 18, 20, 21, 22, 24, 25, 26, 27, 29, 31, 35, 37, 38, 40, 41, 42, 46, 47], "convent": [1, 27], "master": [1, 4], "semi": 1, "binari": 1, "good": [1, 3, 5, 6], "same": [1, 8, 23, 27, 34, 37, 42, 43, 44], "build": [1, 14, 27, 31, 35], "dai": 1, "ros_distro": [1, 4, 16, 18], "foxi": [1, 7, 14], "galact": [1, 11, 14], "releas": [1, 4, 7, 16, 27], "version": [1, 6, 16, 44], "non": [1, 7, 20, 27, 37, 52], "brake": 1, "distribut": [1, 16, 53], "three": [1, 2, 4, 11, 12, 16, 27, 35, 43, 49], "stage": [1, 8, 20], "current": [1, 6, 11, 12, 14, 15, 43, 44, 47], "futur": [1, 7, 8, 43, 44], "compat": [1, 2, 7, 14, 16], "packag": [1, 2, 3, 5, 11, 14, 27, 30, 31, 32, 33, 35, 36, 37, 40, 44, 45, 46, 47, 49, 50, 53], "direct": [1, 2, 6, 14, 27, 35, 42], "local": [1, 3, 5, 17, 18, 20, 21, 22, 23, 24, 25, 26, 28, 29, 41], "possibl": [1, 4, 6, 9, 12, 16, 18, 21, 22, 23, 24, 25, 26, 28, 31, 35, 43], "core": [1, 10, 27], "immedi": [1, 18, 20, 21, 23, 24, 25, 26, 27, 28, 29], "depend": [1, 4, 11, 12, 14, 16, 17, 18, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 34, 35, 43, 47], "fail": [1, 23, 27], "expect": [1, 6, 20, 27, 30, 32, 44, 47, 49], "after": [1, 8, 9, 14, 16, 18, 27, 33, 35, 42, 43, 44, 47, 48], "next": [1, 18, 27, 43], "sync": 1, "abl": 1, "potenti": [1, 35, 42], "mid": 1, "stat": 1, "power": [1, 3, 5, 7, 14], "plausibl": 1, "analyt": 1, "robothw": 2, "rigid": 2, "ani": [2, 4, 7, 8, 9, 11, 12, 16, 20, 27, 35, 42, 44], "imposs": 2, "extend": [2, 4, 6, 8, 14, 35], "exist": [2, 4, 6, 8, 9, 11, 12, 14, 18, 21, 22, 23, 24, 25, 26, 27, 28, 35, 44], "addit": [2, 3, 5, 8, 16, 19, 22, 27], "sensor": [2, 4, 6, 11, 13, 14, 16, 21, 26, 27, 31, 34, 52], "actuat": [2, 4, 6, 11, 12, 13, 14, 16, 20], "tool": [2, 3, 5, 6, 7, 27], "without": [2, 3, 4, 5, 7, 13, 14, 16, 20, 29, 35, 42, 43], "combinedrobothardwar": 2, "drawback": [2, 53], "solut": [2, 7], "optim": [2, 9], "combin": [2, 8, 12, 13, 16, 23, 41, 42, 43, 44], "extern": [2, 4, 6, 8, 13, 16, 31], "defin": [2, 3, 5, 6, 9, 13, 14, 16, 27, 31, 35, 37, 40, 41, 42, 43, 44, 46, 47], "system": [2, 3, 4, 5, 6, 7, 11, 12, 14, 15, 16, 18, 20, 21, 22, 23, 24, 25, 26, 27, 28, 44, 51, 52, 53], "composit": [2, 7], "basic": [2, 3, 4, 5, 6, 7, 14, 16, 22, 35], "physic": [2, 4, 11, 12, 13], "cell": [2, 37], "surround": 2, "describ": [2, 4, 8, 12, 16, 18, 23, 27, 29, 43], "multi": [2, 4, 6, 7, 16, 23], "gripper": [2, 3, 4, 5, 7, 12, 13, 34], "out": [2, 3, 5, 9, 27, 33], "box": [2, 16, 18, 22, 23, 24, 25, 28, 29], "allow": [2, 3, 4, 5, 16, 27, 39, 42, 43, 44], "joint": [2, 4, 7, 16, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 38, 39, 41, 42, 43, 45, 47, 49, 50, 53], "posit": [2, 3, 4, 5, 7, 9, 12, 15, 16, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 31, 33, 34, 36, 41, 42, 43, 44, 45, 47, 50], "veloc": [2, 3, 4, 5, 7, 8, 16, 21, 22, 23, 27, 31, 32, 33, 34, 39, 40, 41, 42, 43, 44, 45, 47, 50], "effort": [2, 3, 5, 16, 27, 34, 36, 39, 41, 42, 44], "hard": [2, 9], "data": [2, 4, 6, 13, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 34, 41, 43], "approach": [2, 8], "doe": [2, 8, 9, 14, 18, 21, 22, 23, 24, 25, 26, 27, 28, 35, 43, 44], "enforc": [2, 23, 27, 42], "string": [2, 9, 13, 16, 35, 38, 39, 40, 41, 42, 46, 47], "ensur": [2, 7, 9, 27, 43], "constant": [2, 16], "hardware_interfac": [2, 3, 4, 5, 11, 13, 14, 16, 21, 24, 25, 26, 27, 31, 33, 34, 35], "In": [2, 3, 4, 5, 6, 7, 8, 14, 16, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 34, 35, 41, 43, 47], "had": 2, "itself": [2, 8], "took": 2, "care": [2, 6, 9, 14, 23, 35, 44], "regist": [2, 3, 5], "resourc": [2, 3, 5, 14, 23], "conflict": [2, 4, 6], "resourcemanag": [2, 8], "take": [2, 6, 8, 14, 20, 23, 33, 35, 41, 43], "state": [2, 3, 4, 5, 6, 7, 9, 11, 12, 13, 14, 15, 16, 18, 19, 20, 22, 23, 24, 25, 26, 27, 28, 29, 34, 35, 37, 41, 42], "avail": [2, 4, 7, 9, 15, 16, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 35, 41, 44], "enabl": [2, 4, 6, 7, 11, 14, 15, 16, 22, 31, 37, 47], "anymor": 2, "controllermanag": [2, 9], "implement": [2, 3, 4, 5, 6, 7, 9, 12, 13, 14, 16, 18, 20, 21, 22, 23, 24, 25, 26, 27, 28, 30, 31, 32, 33, 35, 38, 43, 44, 47, 48, 49, 53], "systeminterfac": [2, 3, 5, 13, 24, 27], "granular": 2, "sensorinterfac": [2, 21, 25], "actuatorinterfac": [2, 21, 26], "abov": [2, 18, 19, 20, 21, 22, 23, 24, 25, 26, 28, 29, 34, 43], "choos": [2, 16, 47], "suitabl": [2, 7], "strategi": [2, 16, 43], "decid": 2, "which": [2, 3, 4, 5, 6, 7, 9, 14, 15, 16, 18, 22, 23, 24, 25, 26, 27, 28, 29, 33, 35, 37, 40, 41, 42, 43, 44, 46, 47, 48], "case": [2, 3, 5, 6, 7, 8, 16, 20, 27, 35, 41, 43, 44, 53], "mayb": [2, 8], "sens": [2, 4, 34, 37], "multipl": [2, 4, 7, 8, 12, 14, 16, 41, 42], "constructor": [2, 14, 27, 35], "initi": [2, 14, 27, 35, 43], "variabl": [2, 14, 27, 35, 42], "need": [2, 3, 4, 5, 6, 7, 8, 12, 14, 16, 18, 21, 22, 23, 24, 25, 26, 27, 28, 35, 43], "commun": [2, 4, 6, 7, 14, 16, 18, 21, 22, 23, 24, 25, 27, 28, 52], "default": [2, 4, 8, 9, 13, 23, 30, 32, 38, 39, 40, 41, 42, 43, 44, 46, 47, 49], "configur": [2, 3, 4, 5, 6, 7, 8, 9, 11, 13, 15, 16, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 35, 41, 42, 43, 44, 47], "paramet": [2, 3, 5, 7, 14, 16, 18, 22, 27, 34, 35, 44], "pars": [2, 3, 5, 9, 10, 12], "urdf": [2, 7, 9, 12, 16, 18, 19, 20, 21, 22, 23, 24, 25, 26, 28, 29], "snippet": 2, "hardwareinfo": [2, 27], "here": [2, 10, 14, 27, 35, 36, 44, 45, 50], "cross": [2, 41], "valu": [2, 4, 6, 12, 13, 14, 16, 18, 19, 20, 22, 24, 25, 27, 29, 35, 40, 41, 42, 44, 46, 47], "export_": 2, "_interfac": [2, 14], "joint_a2": 2, "extract": [2, 33, 48], "sensibl": 2, "stop": [2, 7, 8, 9, 11, 15, 18, 22, 23, 27, 33, 42, 48], "usual": [2, 4, 9, 13, 14, 27, 35], "includ": [2, 3, 5, 6, 11, 14, 15, 27, 35, 44, 52], "command": [2, 3, 4, 5, 6, 7, 9, 10, 12, 13, 14, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 32, 33, 34, 35, 36, 38, 39, 42, 43, 45, 49, 50, 53], "safe": [2, 27, 33, 35, 44, 48], "interrupt": [2, 9], "stream": [2, 7], "write": [2, 4, 7, 8, 9, 10, 20, 21, 22, 26, 34], "exchang": [2, 6, 18, 21, 22, 23, 24, 25, 26, 28, 53], "equival": [2, 27], "forget": [2, 4, 16, 44], "pluginlib_export_class": [2, 14, 16, 27, 35], "macro": [2, 4, 14, 16, 27, 35], "end": [2, 4, 11, 14, 27, 35, 42, 52], "cpp": [2, 14, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 35], "file": [2, 3, 4, 5, 6, 7, 9, 13, 14, 16, 31, 33, 35, 36, 44, 45, 50], "creat": [2, 3, 4, 5, 7, 9, 13, 14, 16, 27, 35], "xml": [2, 3, 5, 11, 14, 27, 35], "librari": [2, 4, 14, 15, 16, 30, 32, 34, 35, 47, 49], "pluginlib": [2, 3, 4, 5, 9, 14, 27, 35], "exampl": [2, 3, 4, 5, 6, 7, 8, 13, 15, 22, 31, 36, 37, 41, 44, 45, 50, 53], "rrbotsystempositiononlyhardwar": [2, 4, 12, 15, 18, 20, 25], "excel": 2, "jointtrajectorycontrol": [2, 3, 5, 15, 18, 31, 44], "real": [2, 6, 7, 9, 13, 22, 35, 41, 42, 53], "critic": [2, 6], "mark": [2, 20], "controllerinterfac": [2, 4, 8, 15, 27, 35], "member": [2, 14, 27, 35, 43], "init": 2, "call": [2, 3, 4, 5, 8, 14, 22, 27, 35], "lifecycl": [2, 4, 7, 9, 11, 14, 27], "declar": [2, 14, 27, 35], "state_interface_configur": [2, 27, 35], "command_interface_configur": [2, 27, 35], "design": [2, 4, 6, 7, 8, 27, 53], "updat": [2, 4, 8, 9, 16, 27, 35, 44, 47], "manag": [2, 3, 5, 6, 7, 10, 11, 14, 15, 16, 27, 35, 44, 53], "option": [2, 3, 5, 9, 11, 13, 14, 15, 18, 23, 35, 37, 41, 44, 47], "on_configur": [2, 14, 27, 35], "on_activ": [2, 11, 14, 27, 35], "on_deactiv": [2, 11, 14, 27, 35], "deactiv": [2, 4, 15, 18, 42], "final": [2, 7, 11, 27], "joint_trajectory_plugin": 2, "integr": [3, 4, 5, 6, 7, 13, 16, 20, 22, 27, 42, 43, 44, 53], "architectur": [3, 5, 6, 7], "gazebo": [3, 5, 6, 16, 18, 29, 51], "classic": [3, 16, 29, 51], "provid": [3, 4, 5, 6, 7, 8, 9, 12, 13, 14, 16, 18, 20, 23, 24, 25, 26, 27, 28, 29, 31, 35, 41, 42, 43, 44, 47, 53], "instanti": [3, 5, 9], "connect": [3, 4, 5, 13, 16, 24, 27], "model": [3, 5, 18, 27], "cd": [3, 4, 5, 16, 27], "docker": [3, 5, 17, 18, 20, 21, 22, 23, 24, 25, 26, 28, 29], "gui": [3, 5, 16, 18, 20, 21, 23, 24, 25, 26, 28, 29], "properli": [3, 5, 8, 16, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29], "rm": [3, 4, 5, 16, 18, 29], "net": [3, 5, 7, 16, 18, 29], "host": [3, 5, 16, 18, 29, 52], "ros2": [3, 4, 5, 7, 9, 14, 15, 16, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 35], "launch": [3, 4, 5, 9, 13, 16, 18, 19, 20, 21, 22, 23, 24, 25, 26, 28, 29], "cart_example_posit": [3, 5], "py": [3, 5, 16, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29], "fals": [3, 5, 13, 16, 18, 29, 33, 39, 41, 42, 44, 47], "machin": [3, 4, 5, 6, 16, 29], "client": [3, 5, 29, 44], "gzclient": [3, 29], "rocker": [3, 5], "go": [3, 5, 7, 9, 14, 27, 35], "imag": [3, 5, 9, 29], "inject": [3, 5, 7], "nvidia": [3, 5], "And": 3, "user": [3, 5, 6, 9, 16, 27, 43], "id": [3, 5, 15, 18, 21, 22, 23, 24, 25, 26, 28], "specif": [3, 5, 6, 8, 9, 11, 12, 27, 29, 38, 41, 43, 44], "cleaner": [3, 5], "mount": [3, 5], "permiss": [3, 5, 9], "instal": [3, 5, 9, 14, 17, 18, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 35], "instruct": [3, 5, 22, 27, 29], "x11": [3, 5], "latest": [3, 4, 5], "move": [3, 5, 16, 18, 20, 21, 22, 23, 24, 25, 26, 28, 29, 39], "cart": [3, 5], "rail": [3, 5], "exec": [3, 5, 18], "bash": [3, 4, 5, 14, 16, 18, 27, 35], "home": [3, 5], "ros2_w": [3, 4, 5, 16], "example_posit": [3, 5], "element": [3, 5, 27], "access": [3, 4, 5, 7, 9, 13, 18, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 35, 41], "interfac": [3, 5, 6, 7, 8, 9, 10, 11, 13, 14, 16, 18, 20, 21, 22, 24, 25, 26, 29, 30, 32, 34, 35, 37, 40, 42, 43, 46, 49, 51, 52, 53], "gazebosystem": 3, "hardwar": [3, 5, 7, 8, 10, 13, 15, 16, 18, 19, 20, 21, 22, 23, 24, 25, 26, 28, 29, 33, 34, 35, 42, 48, 53], "slider_to_cart": [3, 5, 36, 45, 50], "command_interfac": [3, 4, 5, 12, 20, 27, 31, 42, 44], "param": [3, 4, 5, 9, 12, 13, 22, 27], "min": [3, 4, 5, 12, 27], "1000": [3, 5, 27], "max": [3, 4, 5, 12, 27, 39], "state_interfac": [3, 4, 5, 12, 27, 31, 42, 44], "initial_valu": [3, 5, 27], "mimick": [3, 5, 13], "manual": [3, 4, 5, 6, 9, 14, 16, 18, 23, 24, 25, 26, 28, 29, 35, 53], "multipli": [3, 5, 13], "definit": [3, 4, 5, 14, 27, 31, 33, 34, 35, 37, 42], "left_finger_joint": [3, 5], "prismat": [3, 5], "right_finger_joint": [3, 5], "axi": [3, 5, 6, 27, 30, 32, 33, 37, 49], "xyz": [3, 5, 27], "rpy": [3, 5, 27], "1415926535": [3, 5], "parent": [3, 5, 14, 27, 35], "base": [3, 4, 5, 7, 11, 14, 15, 16, 21, 22, 26, 27, 33, 35, 38, 47, 48, 51], "child": [3, 5, 12, 27], "finger_left": [3, 5], "lower": [3, 5, 27], "upper": [3, 5, 27], "actual": [3, 5, 8], "load": [3, 4, 5, 9, 14, 15, 16, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 35], "appropri": [3, 5, 6, 43], "By": [3, 5, 9, 27, 41, 43], "though": [3, 5, 20], "extens": [3, 5], "via": [3, 4, 5, 16, 18, 24, 25, 27, 29, 44], "between": [3, 4, 5, 6, 11, 12, 16, 27, 30, 32, 41, 42, 43, 44, 49], "filenam": [3, 5, 27], "libgazebo_ros2_control": 3, "so": [3, 4, 5, 8, 9, 14, 27, 31, 35, 44], "robot_param": [3, 5], "robot_descript": [3, 5, 9, 18, 27], "robot_param_nod": [3, 5], "robot_state_publish": [3, 5, 41], "config": [3, 5, 16], "cartpole_control": [3, 5], "yaml": [3, 4, 5, 6, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 44], "locat": [3, 27, 31], "server": [3, 39, 44], "node": [3, 4, 5, 9, 11, 13, 15, 18, 21, 22, 23, 24, 25, 26, 27, 28, 29, 35], "attempt": [3, 5, 9, 44], "get": [3, 5, 7, 8, 9, 11, 14, 16, 18, 19, 20, 21, 22, 23, 24, 25, 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"controllers-from-this-demo"]], "Example 10: Industrial robot with GPIO interfaces": [[19, "example-10-industrial-robot-with-gpio-interfaces"]], "Example 12: Controller chaining with RRBot": [[20, "example-12-controller-chaining-with-rrbot"]], "Example 14: Modular robot with actuators not providing states": [[21, "example-14-modular-robot-with-actuators-not-providing-states"]], "DiffBot": [[22, "diffbot"]], "Example 3: Robots with multiple interfaces": [[23, "example-3-robots-with-multiple-interfaces"]], "Example 4: Industrial robot with integrated sensor": [[24, "example-4-industrial-robot-with-integrated-sensor"]], "Files used for this demo": [[24, "files-used-for-this-demo"]], "Example 5: Industrial robot with externally connected sensor": [[25, "example-5-industrial-robot-with-externally-connected-sensor"]], "Example 6: Modular Robots with separate communication to each actuator": [[26, "example-6-modular-robots-with-separate-communication-to-each-actuator"]], "Example 7: Full tutorial with a 6DOF robot": [[27, "example-7-full-tutorial-with-a-6dof-robot"]], "ros2_control overview": [[27, "ros2-control-overview"]], "Writing a URDF": [[27, "writing-a-urdf"]], "Geometry": [[27, "geometry"]], "URDF file": [[27, "urdf-file"]], "Writing a hardware interface": [[27, "writing-a-hardware-interface"]], "Plugin description file (hardware)": [[27, "plugin-description-file-hardware"]], "CMake library (hardware)": [[27, "cmake-library-hardware"]], "Writing a controller": [[27, "writing-a-controller"]], "Plugin description file (controller)": [[27, "plugin-description-file-controller"]], "CMake library (controller)": [[27, "cmake-library-controller"]], "Launching the example": [[27, "launching-the-example"]], "Example 8: Industrial Robots with an exposed transmission interface": [[28, "example-8-industrial-robots-with-an-exposed-transmission-interface"]], "Example 9: Simulation with RRBot": [[29, "example-9-simulation-with-rrbot"]], "ackermann_steering_controller": [[30, "ackermann-steering-controller"]], "Admittance Controller": [[31, "admittance-controller"]], "ROS 2 interface of the controller": [[31, "ros-2-interface-of-the-controller"], [36, "ros-2-interface-of-the-controller"], [38, "ros-2-interface-of-the-controller"], [45, "ros-2-interface-of-the-controller"], [50, "ros-2-interface-of-the-controller"]], "Topics": [[31, "topics"], [36, "topics"], [38, "topics"], [45, "topics"], [50, "topics"]], "ros2_control interfaces": [[31, "ros2-control-interfaces"]], "References": [[31, "references"], [33, "references"], [44, "references"]], "States": [[31, "states"], [44, "states"], [47, "states"]], "Commands": [[31, "commands"], [41, "commands"], [44, "commands"], [47, "commands"]], "bicycle_steering_controller": [[32, "bicycle-steering-controller"]], "diff_drive_controller": [[33, "diff-drive-controller"]], "Other features": [[33, "other-features"], [44, "other-features"], [48, "other-features"]], "Description of controller\u2019s interfaces": [[33, "description-of-controller-s-interfaces"], [44, "description-of-controller-s-interfaces"], [47, "description-of-controller-s-interfaces"]], "Feedback": [[33, "feedback"]], "Output": [[33, "output"]], "ROS 2 Interfaces": [[33, "ros-2-interfaces"]], "Subscribers": [[33, "subscribers"], [47, "subscribers"]], "Publishers": [[33, "publishers"], [44, "publishers"], [47, "publishers"]], "ros2_controllers": [[34, "ros2-controllers"]], "Controllers for Mobile Robots": [[34, "controllers-for-mobile-robots"]], "Controllers for Manipulators and Other Robots": [[34, "controllers-for-manipulators-and-other-robots"]], "Broadcasters": [[34, "broadcasters"]], "Writing a new controller": [[35, "writing-a-new-controller"]], "effort_controllers": [[36, "effort-controllers"]], "effort_controllers/JointGroupEffortController": [[36, "effort-controllers-jointgroupeffortcontroller"]], "Force Torque Sensor Broadcaster": [[37, "force-torque-sensor-broadcaster"]], "forward_command_controller": [[38, "forward-command-controller"]], "Hardware interface type": [[38, "hardware-interface-type"], [41, "hardware-interface-type"]], "Gripper Action Controller": [[39, "gripper-action-controller"]], "IMU Sensor Broadcaster": [[40, "imu-sensor-broadcaster"]], "joint_state_broadcaster": [[41, "joint-state-broadcaster"]], "Details about parameters": [[42, "details-about-parameters"]], "Trajectory Representation": [[43, "trajectory-representation"]], "Interpolation Method none": [[43, "interpolation-method-none"]], "Interpolation Method spline": [[43, "interpolation-method-spline"]], "Visualized Examples": [[43, "visualized-examples"]], "Trajectory Replacement": [[43, "trajectory-replacement"]], "joint_trajectory_controller": [[44, "joint-trajectory-controller"]], "Hardware interface types": [[44, "hardware-interface-types"]], "Using Joint Trajectory Controller(s)": [[44, "using-joint-trajectory-controller-s"]], "Preemption policy 1": [[44, "preemption-policy"]], "Actions 1": [[44, "actions"]], "Subscriber 1": [[44, "subscriber"]], "Services": [[44, "services"]], "Further information": [[44, "further-information"]], "position_controllers": [[45, "position-controllers"]], "position_controllers/JointGroupPositionController": [[45, "position-controllers-jointgrouppositioncontroller"]], "Range Sensor Broadcaster": [[46, "range-sensor-broadcaster"]], "steering_controllers_library": [[47, "steering-controllers-library"]], "Execution logic of the controller": [[47, "execution-logic-of-the-controller"]], "References (from a preceding controller)": [[47, "references-from-a-preceding-controller"]], "tricycle_controller": [[48, "tricycle-controller"]], "Velocity commands": [[48, "velocity-commands"]], "tricycle_steering_controller": [[49, "tricycle-steering-controller"]], "velocity_controllers": [[50, "velocity-controllers"]], "velocity_controllers/JointGroupVelocityController": [[50, "velocity-controllers-jointgroupvelocitycontroller"]], "Simulator Integrations": [[51, 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\ No newline at end of file
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23, 24, 25, 26, 27, 28, 29, 30, 32, 35, 37, 43, 44, 48, 50], "explicitli": 1, "onli": [1, 2, 4, 6, 7, 8, 9, 11, 14, 15, 16, 18, 20, 21, 22, 23, 24, 25, 26, 27, 28, 32, 33, 35, 36, 37, 41, 42, 43, 44, 45, 51], "except": [1, 27], "other": [1, 2, 3, 4, 7, 14, 16, 21, 26, 27, 30, 32, 35, 41, 43, 48, 50], "where": [1, 3, 6, 8, 14, 18, 19, 20, 21, 22, 23, 24, 25, 26, 28, 30, 32, 33, 35, 41, 42, 43, 44, 48, 50], "back": 1, "traceabl": 1, "discuss": [1, 7, 20, 29, 43, 54], "suffici": [1, 3, 5, 8, 37], "note": [1, 4, 9, 18, 33, 44, 54], "still": [1, 2, 18, 20, 21, 22, 23, 24, 25, 26, 28, 34, 43], "encourag": 1, "help": [1, 9, 13, 14, 15, 35], "u": [1, 3, 5, 9, 16, 42], "increas": [1, 22], "pace": 1, "veri": [1, 2, 3, 5, 6, 12], "like": [1, 2, 3, 4, 5, 6, 7, 14, 16, 20, 27], "find": [1, 3, 5, 22], "issu": [1, 6, 54], "nobodi": 1, "els": 1, "squash": 1, "commit": 1, "messag": [1, 6, 9, 15, 23, 24, 25, 27, 37, 40, 41, 42, 43, 44, 46, 48, 54], "comment": [1, 27], "fixup": 1, "linter": 1, "us": [1, 2, 4, 6, 7, 11, 12, 13, 15, 17, 27, 30, 31, 32, 33, 34, 36, 37, 38, 39, 40, 41, 42, 43, 45, 46, 48, 50, 51, 54], "pre": 1, "correct": [1, 2, 43], "header": [1, 11, 14, 24, 25, 33, 35, 43], "address": [1, 27], "similar": [1, 4, 7, 12, 18, 20, 27], "mean": [1, 2, 8, 12, 13, 18, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 43, 44], "result": [1, 4, 8, 9, 18, 27, 41, 43], "exactli": 1, "cowboi": 1, "style": [1, 14, 35], "over": [1, 6, 8, 22, 27], "weekend": 1, "It": [1, 2, 3, 4, 6, 8, 9, 18, 20, 21, 23, 24, 25, 26, 27, 28, 29, 37, 41, 42, 43], "doesn": [1, 8], "matter": 1, "trivial": [1, 13], "chanc": 1, "proper": [1, 8, 9, 44], "Be": 1, "awar": 1, "impact": 1, "proport": [1, 42], "its": [1, 2, 3, 4, 5, 6, 7, 8, 9, 12, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 34, 37, 38, 39, 40, 41, 43, 48, 50], "ping": 1, "them": [1, 6, 8, 9, 14, 17, 18, 20, 21, 22, 23, 24, 25, 26, 27, 28, 35, 41, 43, 53], "necessari": [1, 8, 11], "repeatedli": 1, "start": [1, 2, 3, 5, 7, 8, 9, 11, 16, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 35, 42, 43, 54], "part": [1, 6, 7, 12, 27, 35, 43, 44], "For": [1, 3, 4, 5, 6, 7, 8, 9, 11, 13, 14, 16, 17, 18, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 35, 42, 44, 48, 50], "detail": [1, 2, 3, 4, 5, 9, 11, 12, 13, 14, 20, 27, 29, 30, 32, 33, 35, 43, 44, 50], "thoma": 1, "cokela": 1, "info": [1, 9, 11, 14, 27], "tutori": [1, 16], "sphinx": 1, "rest_syntax": 1, "html": 1, "id8": 1, "type": [1, 2, 3, 4, 5, 7, 8, 9, 10, 11, 14, 15, 16, 21, 22, 24, 25, 26, 27, 33, 34, 35, 36, 37, 40, 42, 45, 46, 48, 51], "stabl": 1, "against": 1, "accept": [1, 14, 23, 35, 36, 42, 43, 44, 45, 51], "api": [1, 3, 5, 6, 14, 18, 21, 22, 23, 24, 25, 26, 28], "abi": 1, "chang": [1, 2, 4, 7, 9, 11, 14, 15, 16, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 35, 42, 43, 44], "e": [1, 2, 4, 6, 7, 8, 9, 12, 13, 14, 16, 18, 19, 20, 21, 23, 24, 25, 26, 27, 28, 29, 31, 35, 36, 37, 41, 42, 43, 45, 48, 51, 54], "name": [1, 2, 3, 4, 5, 7, 9, 12, 13, 14, 15, 16, 18, 20, 21, 22, 24, 25, 26, 27, 29, 31, 35, 37, 38, 40, 41, 42, 46, 48], "convent": [1, 27], "master": [1, 4], "semi": 1, "binari": 1, "good": [1, 3, 5, 6], "same": [1, 8, 23, 27, 34, 37, 42, 43, 44], "build": [1, 14, 27, 31, 35], "dai": 1, "ros_distro": [1, 4, 16, 18], "foxi": [1, 7, 14], "galact": [1, 11, 14], "releas": [1, 4, 7, 16, 27], "version": [1, 6, 16, 44], "non": [1, 7, 20, 27, 37, 53], "brake": 1, "distribut": [1, 16, 54], "three": [1, 2, 4, 11, 12, 16, 27, 35, 43, 50], "stage": [1, 8, 20], "current": [1, 6, 11, 12, 14, 15, 43, 44, 48], "futur": [1, 7, 8, 43, 44], "compat": [1, 2, 7, 14, 16], "packag": [1, 2, 3, 5, 11, 14, 27, 30, 31, 32, 33, 35, 36, 37, 40, 44, 45, 46, 48, 50, 51, 54], "direct": [1, 2, 6, 14, 27, 35, 42], "local": [1, 3, 5, 17, 18, 20, 21, 22, 23, 24, 25, 26, 28, 29, 41], "possibl": [1, 4, 6, 9, 12, 16, 18, 21, 22, 23, 24, 25, 26, 28, 31, 35, 43], "core": [1, 10, 27], "immedi": [1, 9, 18, 20, 21, 23, 24, 25, 26, 27, 28, 29], "depend": [1, 4, 11, 12, 14, 16, 17, 18, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 34, 35, 43, 48], "fail": [1, 23, 27], "expect": [1, 6, 20, 27, 30, 32, 44, 48, 50], "after": [1, 8, 9, 14, 16, 18, 27, 33, 35, 42, 43, 48, 49], "next": [1, 18, 27, 43], "sync": 1, "abl": 1, "potenti": [1, 35, 42], "mid": 1, "stat": 1, "power": [1, 3, 5, 7, 14], "plausibl": 1, "analyt": 1, "robothw": 2, "rigid": 2, "ani": [2, 4, 7, 8, 9, 11, 12, 16, 20, 27, 35, 42, 44], "imposs": 2, "extend": [2, 4, 6, 8, 14, 35], "exist": [2, 4, 6, 8, 9, 11, 12, 14, 18, 21, 22, 23, 24, 25, 26, 27, 28, 35, 44], "addit": [2, 3, 5, 8, 16, 19, 22, 27], "sensor": [2, 4, 6, 11, 13, 14, 16, 21, 26, 27, 31, 34, 53], "actuat": [2, 4, 6, 11, 12, 13, 14, 16, 20], "tool": [2, 3, 5, 6, 7, 27], "without": [2, 3, 4, 5, 7, 9, 13, 14, 16, 20, 29, 35, 42, 43], "combinedrobothardwar": 2, "drawback": [2, 54], "solut": [2, 7], "optim": [2, 9], "combin": [2, 8, 12, 13, 16, 23, 41, 42, 43, 44], "extern": [2, 4, 6, 8, 13, 16, 31], "defin": [2, 3, 5, 6, 9, 13, 14, 16, 27, 31, 35, 37, 40, 41, 42, 43, 44, 46, 48], "system": [2, 3, 4, 5, 6, 7, 11, 12, 14, 15, 16, 18, 20, 21, 22, 23, 24, 25, 26, 27, 28, 44, 52, 53, 54], "composit": [2, 7], "basic": [2, 3, 4, 5, 6, 7, 14, 16, 22, 35], "physic": [2, 4, 11, 12, 13], "cell": [2, 37], "surround": 2, "describ": [2, 4, 8, 12, 16, 18, 23, 27, 29, 43], "multi": [2, 4, 6, 7, 16, 23], "gripper": [2, 3, 4, 5, 7, 12, 13, 34], "out": [2, 3, 5, 9, 27, 33], "box": [2, 16, 18, 22, 23, 24, 25, 28, 29], "allow": [2, 3, 4, 5, 16, 27, 39, 42, 43, 44, 47], "joint": [2, 4, 7, 16, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 38, 39, 41, 42, 43, 45, 48, 50, 51, 54], "posit": [2, 3, 4, 5, 7, 9, 12, 15, 16, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 31, 33, 34, 36, 41, 42, 43, 44, 45, 48, 51], "veloc": [2, 3, 4, 5, 7, 8, 16, 21, 22, 23, 27, 31, 32, 33, 34, 39, 40, 41, 42, 43, 44, 45, 48, 51], "effort": [2, 3, 5, 16, 27, 34, 36, 39, 41, 42, 44], "hard": [2, 9], "data": [2, 4, 6, 13, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 34, 41, 43], "approach": [2, 8], "doe": [2, 8, 9, 14, 18, 21, 22, 23, 24, 25, 26, 27, 28, 35, 43, 44], "enforc": [2, 23, 27, 42], "string": [2, 9, 13, 16, 35, 38, 39, 40, 41, 42, 46, 48], "ensur": [2, 7, 9, 27, 43], "constant": [2, 16], "hardware_interfac": [2, 3, 4, 5, 11, 13, 14, 16, 21, 24, 25, 26, 27, 31, 33, 34, 35], "In": [2, 3, 4, 5, 6, 7, 8, 14, 16, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 34, 35, 41, 43, 48], "had": 2, "itself": [2, 8], "took": 2, "care": [2, 6, 9, 14, 23, 35, 44], "regist": [2, 3, 5], "resourc": [2, 3, 5, 14, 23], "conflict": [2, 4, 6], "resourcemanag": [2, 8], "take": [2, 6, 8, 14, 20, 23, 33, 35, 41, 43], "state": [2, 3, 4, 5, 6, 7, 9, 11, 12, 13, 14, 15, 16, 18, 19, 20, 22, 23, 24, 25, 26, 27, 28, 29, 34, 35, 37, 41, 42], "avail": [2, 4, 7, 15, 16, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 35, 41, 44], "enabl": [2, 4, 6, 7, 11, 14, 15, 16, 22, 31, 37, 48], "anymor": 2, "controllermanag": [2, 9], "implement": [2, 3, 4, 5, 6, 7, 9, 12, 13, 14, 16, 18, 20, 21, 22, 23, 24, 25, 26, 27, 28, 30, 31, 32, 33, 35, 38, 43, 44, 48, 49, 50, 54], "systeminterfac": [2, 3, 5, 13, 24, 27], "granular": 2, "sensorinterfac": [2, 21, 25], "actuatorinterfac": [2, 21, 26], "abov": [2, 18, 19, 20, 21, 22, 23, 24, 25, 26, 28, 29, 34, 43], "choos": [2, 16, 48], "suitabl": [2, 7], "strategi": [2, 16, 43], "decid": 2, "which": [2, 3, 4, 5, 6, 7, 9, 14, 15, 16, 18, 22, 23, 24, 25, 26, 27, 28, 29, 33, 34, 35, 37, 40, 41, 42, 43, 44, 46, 48, 49], "case": [2, 3, 5, 6, 7, 8, 16, 20, 27, 35, 41, 43, 44, 54], "mayb": [2, 8], "sens": [2, 4, 34, 37], "multipl": [2, 4, 7, 8, 12, 14, 16, 41, 42], "constructor": [2, 14, 27, 35], "initi": [2, 14, 27, 35, 43], "variabl": [2, 14, 27, 35, 42], "need": [2, 3, 4, 5, 6, 7, 8, 12, 14, 16, 18, 21, 22, 23, 24, 25, 26, 27, 28, 34, 35, 43], "commun": [2, 4, 6, 7, 14, 16, 18, 21, 22, 23, 24, 25, 27, 28, 53], "default": [2, 4, 8, 9, 13, 23, 30, 32, 38, 39, 40, 41, 42, 43, 44, 46, 48, 50], "configur": [2, 3, 4, 5, 6, 7, 8, 9, 11, 13, 16, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 35, 41, 42, 43, 44, 48], "paramet": [2, 3, 5, 7, 14, 16, 18, 22, 27, 35, 44], "pars": [2, 3, 5, 9, 10, 12], "urdf": [2, 7, 9, 12, 16, 18, 19, 20, 21, 22, 23, 24, 25, 26, 28, 29], "snippet": 2, "hardwareinfo": [2, 27], "here": [2, 10, 14, 27, 35, 36, 44, 45, 51], "cross": [2, 41], "valu": [2, 4, 6, 12, 13, 14, 16, 18, 19, 20, 22, 24, 25, 27, 29, 35, 40, 41, 42, 44, 46, 48], "export_": 2, "_interfac": [2, 14], "joint_a2": 2, "extract": [2, 33, 49], "sensibl": 2, "stop": [2, 7, 8, 9, 11, 15, 18, 22, 23, 27, 33, 42, 49], "usual": [2, 4, 9, 13, 14, 27, 35], "includ": [2, 3, 5, 6, 11, 14, 15, 27, 35, 44, 53], "command": [2, 3, 4, 5, 6, 7, 9, 10, 12, 13, 14, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 32, 33, 34, 35, 36, 38, 39, 42, 43, 45, 47, 50, 51, 54], "safe": [2, 27, 33, 35, 44, 49], "interrupt": [2, 9], "stream": [2, 7], "write": [2, 4, 7, 8, 9, 10, 20, 21, 22, 26, 34], "exchang": [2, 6, 18, 21, 22, 23, 24, 25, 26, 28, 54], "equival": [2, 27], "forget": [2, 4, 16, 44], "pluginlib_export_class": [2, 14, 16, 27, 35], "macro": [2, 4, 14, 16, 27, 35], "end": [2, 4, 11, 14, 27, 35, 42, 53], "cpp": [2, 14, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 35], "file": [2, 3, 4, 5, 6, 7, 9, 13, 14, 16, 31, 33, 35, 36, 44, 45, 51], "creat": [2, 3, 4, 5, 7, 9, 13, 14, 16, 27, 35], "xml": [2, 3, 5, 11, 14, 27, 35], "librari": [2, 4, 14, 15, 16, 30, 32, 34, 35, 48, 50], "pluginlib": [2, 3, 4, 5, 9, 14, 27, 35], "exampl": [2, 3, 4, 5, 6, 7, 8, 9, 13, 15, 22, 31, 36, 37, 41, 44, 45, 51, 54], "rrbotsystempositiononlyhardwar": [2, 4, 12, 15, 18, 20, 25], "excel": 2, "jointtrajectorycontrol": [2, 3, 5, 15, 18, 31, 44], "real": [2, 6, 7, 9, 13, 22, 35, 41, 42, 54], "critic": [2, 6], "mark": [2, 20], "controllerinterfac": [2, 4, 8, 15, 27, 35], "member": [2, 14, 27, 35, 43], "init": 2, "call": [2, 3, 4, 5, 8, 14, 22, 27, 35], "lifecycl": [2, 4, 7, 9, 11, 14, 27, 34], "declar": [2, 14, 27, 35], "state_interface_configur": [2, 27, 35], "command_interface_configur": [2, 27, 35], "design": [2, 4, 6, 7, 8, 27, 54], "updat": [2, 4, 8, 9, 16, 27, 34, 35, 44, 48], "manag": [2, 3, 5, 6, 7, 10, 11, 14, 15, 16, 27, 35, 44, 54], "option": [2, 3, 5, 9, 11, 13, 14, 15, 18, 23, 34, 35, 37, 41, 44, 48], "on_configur": [2, 14, 27, 35], "on_activ": [2, 11, 14, 27, 35], "on_deactiv": [2, 11, 14, 27, 35], "deactiv": [2, 4, 15, 18, 42], "final": [2, 7, 11, 27], "joint_trajectory_plugin": 2, "integr": [3, 4, 5, 6, 7, 13, 16, 20, 22, 27, 42, 43, 44, 54], "architectur": [3, 5, 6, 7], "gazebo": [3, 5, 6, 16, 18, 29, 52], "classic": [3, 16, 29, 52], "provid": [3, 4, 5, 6, 7, 8, 9, 12, 13, 14, 16, 18, 20, 23, 24, 25, 26, 27, 28, 29, 31, 35, 41, 42, 43, 44, 48, 54], "instanti": [3, 5, 9], "connect": [3, 4, 5, 13, 16, 24, 27], "model": [3, 5, 18, 27], "cd": [3, 4, 5, 16, 27], "docker": [3, 5, 17, 18, 20, 21, 22, 23, 24, 25, 26, 28, 29], "gui": [3, 5, 16, 18, 20, 21, 23, 24, 25, 26, 28, 29, 47], "properli": [3, 5, 8, 16, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29], "rm": [3, 4, 5, 16, 18, 29], "net": [3, 5, 7, 16, 18, 29], "host": [3, 5, 16, 18, 29, 53], "ros2": [3, 4, 5, 7, 9, 14, 15, 16, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 35], "launch": [3, 4, 5, 9, 13, 16, 18, 19, 20, 21, 22, 23, 24, 25, 26, 28, 29], "cart_example_posit": [3, 5], "py": [3, 5, 16, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29], "fals": [3, 5, 13, 16, 18, 29, 33, 39, 41, 42, 44, 48], "machin": [3, 4, 5, 6, 16, 29], "client": [3, 5, 29, 44], "gzclient": [3, 29], "rocker": [3, 5], "go": [3, 5, 7, 9, 14, 27, 35], "imag": [3, 5, 9, 29], "inject": [3, 5, 7], "nvidia": [3, 5], "And": 3, "user": [3, 5, 6, 9, 16, 27, 43], "id": [3, 5, 15, 18, 21, 22, 23, 24, 25, 26, 28], "specif": [3, 5, 6, 8, 9, 11, 12, 27, 29, 38, 41, 43, 44], "cleaner": [3, 5], "mount": [3, 5], "permiss": [3, 5, 9], "instal": [3, 5, 9, 14, 17, 18, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 35], "instruct": [3, 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26, 28, 29, 35, 54], "multipli": [3, 5, 13], "definit": [3, 4, 5, 9, 14, 27, 31, 33, 34, 35, 37, 42], "left_finger_joint": [3, 5], "prismat": [3, 5], "right_finger_joint": [3, 5], "axi": [3, 5, 6, 27, 30, 32, 33, 37, 50], "xyz": [3, 5, 27], "rpy": [3, 5, 27], "1415926535": [3, 5], "parent": [3, 5, 14, 27, 35], "base": [3, 4, 5, 7, 11, 14, 15, 16, 21, 22, 26, 27, 33, 35, 38, 48, 49, 52], "child": [3, 5, 12, 27], "finger_left": [3, 5], "lower": [3, 5, 27], "upper": [3, 5, 27], "actual": [3, 5, 8], "load": [3, 4, 5, 9, 14, 15, 16, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 34, 35], "appropri": [3, 5, 6, 43], "By": [3, 5, 9, 27, 41, 43], "though": [3, 5, 20], "extens": [3, 5], "via": [3, 4, 5, 16, 18, 24, 25, 27, 29, 44], "between": [3, 4, 5, 6, 11, 12, 16, 27, 30, 32, 41, 42, 43, 44, 50], "filenam": [3, 5, 27], "libgazebo_ros2_control": 3, "so": [3, 4, 5, 8, 9, 14, 27, 31, 35, 44], "robot_param": [3, 5], "robot_descript": [3, 5, 9, 18, 27], "robot_param_nod": [3, 5], 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18, 19, 20, 21, 22, 23, 24, 25, 26, 28, 29, 35, 36, 41, 45, 49, 51, 54], "fork": 1, "when": [1, 2, 3, 4, 5, 8, 9, 13, 14, 15, 20, 23, 27, 31, 34, 35, 39, 42, 44, 48], "That": [1, 14, 35], "wai": [1, 9, 14, 27, 35, 37, 44], "main": [1, 4, 6, 7, 9, 13, 27, 35, 48, 54], "repo": [1, 4, 16], "clean": 1, "featur": [1, 7, 13, 16, 18, 28, 48, 54], "branch": [1, 16], "check": [1, 2, 4, 6, 8, 11, 13, 14, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 32, 33, 35, 42, 43, 44, 50, 54], "satisfi": 1, "befor": [1, 2, 8, 9, 14, 18, 20, 21, 22, 23, 24, 25, 26, 27, 28, 34, 35, 43], "thei": [1, 2, 4, 6, 7, 8, 12, 13, 14, 15, 20, 34, 35, 42, 44, 48], "can": [1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 31, 32, 33, 35, 37, 38, 42, 43, 44, 48, 54], "must": [1, 3, 5, 8, 9, 12, 16, 27, 40, 42, 44], "approv": 1, "two": [1, 4, 6, 8, 9, 14, 16, 18, 20, 21, 23, 24, 25, 26, 27, 28, 29, 30, 32, 35, 37, 43, 44, 48, 50], "explicitli": 1, "onli": [1, 2, 4, 6, 7, 8, 9, 11, 14, 15, 16, 18, 20, 21, 22, 23, 24, 25, 26, 27, 28, 32, 33, 35, 36, 37, 41, 42, 43, 44, 45, 51], "except": [1, 27], "other": [1, 2, 3, 4, 7, 14, 16, 21, 26, 27, 30, 32, 35, 41, 43, 48, 50], "where": [1, 3, 6, 8, 14, 18, 19, 20, 21, 22, 23, 24, 25, 26, 28, 30, 32, 33, 35, 41, 42, 43, 44, 48, 50], "back": 1, "traceabl": 1, "discuss": [1, 7, 20, 29, 43, 54], "suffici": [1, 3, 5, 8, 37], "note": [1, 4, 9, 18, 33, 44, 54], "still": [1, 2, 18, 20, 21, 22, 23, 24, 25, 26, 28, 34, 43], "encourag": 1, "help": [1, 9, 13, 14, 15, 35], "u": [1, 3, 5, 9, 16, 42], "increas": [1, 22], "pace": 1, "veri": [1, 2, 3, 5, 6, 12], "like": [1, 2, 3, 4, 5, 6, 7, 14, 16, 20, 27], "find": [1, 3, 5, 22], "issu": [1, 6, 54], "nobodi": 1, "els": 1, "squash": 1, "commit": 1, "messag": [1, 6, 9, 15, 23, 24, 25, 27, 37, 40, 41, 42, 43, 44, 46, 48, 54], "comment": [1, 27], "fixup": 1, "linter": 1, "us": [1, 2, 4, 6, 7, 11, 12, 13, 15, 17, 27, 30, 31, 32, 33, 34, 36, 37, 38, 39, 40, 41, 42, 43, 45, 46, 48, 50, 51, 54], "pre": 1, "correct": [1, 2, 43], "header": [1, 11, 14, 24, 25, 33, 35, 43], "address": [1, 27], "similar": [1, 4, 7, 12, 18, 20, 27], "mean": [1, 2, 8, 12, 13, 18, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 43, 44], "result": [1, 4, 8, 9, 18, 27, 41, 43], "exactli": 1, "cowboi": 1, "style": [1, 14, 35], "over": [1, 6, 8, 22, 27], "weekend": 1, "It": [1, 2, 3, 4, 6, 8, 9, 18, 20, 21, 23, 24, 25, 26, 27, 28, 29, 37, 41, 42, 43], "doesn": [1, 8], "matter": 1, "trivial": [1, 13], "chanc": 1, "proper": [1, 8, 9, 44], "Be": 1, "awar": 1, "impact": 1, "proport": [1, 42], "its": [1, 2, 3, 4, 5, 6, 7, 8, 9, 12, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 34, 37, 38, 39, 40, 41, 43, 48, 50], "ping": 1, "them": [1, 6, 8, 9, 14, 17, 18, 20, 21, 22, 23, 24, 25, 26, 27, 28, 35, 41, 43, 53], "necessari": [1, 8, 11], "repeatedli": 1, "start": [1, 2, 3, 5, 7, 8, 9, 11, 16, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 35, 42, 43, 54], "part": [1, 6, 7, 12, 27, 35, 43, 44], "For": [1, 3, 4, 5, 6, 7, 8, 9, 11, 13, 14, 16, 17, 18, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 35, 42, 44, 48, 50], "detail": [1, 2, 3, 4, 5, 9, 11, 12, 13, 14, 20, 27, 29, 30, 32, 33, 35, 43, 44, 50], "thoma": 1, "cokela": 1, "info": [1, 9, 11, 14, 27], "tutori": [1, 16], "sphinx": 1, "rest_syntax": 1, "html": 1, "id8": 1, "type": [1, 2, 3, 4, 5, 7, 8, 9, 10, 11, 14, 15, 16, 21, 22, 24, 25, 26, 27, 33, 34, 35, 36, 37, 40, 42, 45, 46, 48, 51], "stabl": 1, "against": 1, "accept": [1, 14, 23, 35, 36, 42, 43, 44, 45, 51], "api": [1, 3, 5, 6, 14, 18, 21, 22, 23, 24, 25, 26, 28], "abi": 1, "chang": [1, 2, 4, 7, 9, 11, 14, 15, 16, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 35, 42, 43, 44], "e": [1, 2, 4, 6, 7, 8, 9, 12, 13, 14, 16, 18, 19, 20, 21, 23, 24, 25, 26, 27, 28, 29, 31, 35, 36, 37, 41, 42, 43, 45, 48, 51, 54], "name": [1, 2, 3, 4, 5, 7, 9, 12, 13, 14, 15, 16, 18, 20, 21, 22, 24, 25, 26, 27, 29, 31, 35, 37, 38, 40, 41, 42, 46, 48], "convent": [1, 27], "master": [1, 4], "semi": 1, "binari": 1, "good": [1, 3, 5, 6], "same": [1, 8, 23, 27, 34, 37, 42, 43, 44], "build": [1, 14, 27, 31, 35], "dai": 1, "ros_distro": [1, 4, 16, 18], "foxi": [1, 7, 14], "galact": [1, 11, 14], "releas": [1, 4, 7, 16, 27], "version": [1, 6, 16, 44], "non": [1, 7, 20, 27, 37, 53], "brake": 1, "distribut": [1, 16, 54], "three": [1, 2, 4, 11, 12, 16, 27, 35, 43, 50], "stage": [1, 8, 20], "current": [1, 6, 11, 12, 14, 15, 43, 44, 48], "futur": [1, 7, 8, 43, 44], "compat": [1, 2, 7, 14, 16], "packag": [1, 2, 3, 5, 11, 14, 27, 30, 31, 32, 33, 35, 36, 37, 40, 44, 45, 46, 48, 50, 51, 54], "direct": [1, 2, 6, 14, 27, 35, 42], "local": [1, 3, 5, 17, 18, 20, 21, 22, 23, 24, 25, 26, 28, 29, 41], "possibl": [1, 4, 6, 9, 12, 16, 18, 21, 22, 23, 24, 25, 26, 28, 31, 35, 43], "core": [1, 10, 27], "immedi": [1, 9, 18, 20, 21, 23, 24, 25, 26, 27, 28, 29], "depend": [1, 4, 11, 12, 14, 16, 17, 18, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 34, 35, 43, 48], "fail": [1, 23, 27], "expect": [1, 6, 20, 27, 30, 32, 44, 48, 50], "after": [1, 8, 9, 14, 16, 18, 27, 33, 35, 42, 43, 48, 49], "next": [1, 18, 27, 43], "sync": 1, "abl": 1, "potenti": [1, 35, 42], "mid": 1, "stat": 1, "power": [1, 3, 5, 7, 14], "plausibl": 1, "analyt": 1, "robothw": 2, "rigid": 2, "ani": [2, 4, 7, 8, 9, 11, 12, 16, 20, 27, 35, 42, 44], "imposs": 2, "extend": [2, 4, 6, 8, 14, 35], "exist": [2, 4, 6, 8, 9, 11, 12, 14, 18, 21, 22, 23, 24, 25, 26, 27, 28, 35, 44], "addit": [2, 3, 5, 8, 16, 19, 22, 27], "sensor": [2, 4, 6, 11, 13, 14, 16, 21, 26, 27, 31, 34, 53], "actuat": [2, 4, 6, 11, 12, 13, 14, 16, 20], "tool": [2, 3, 5, 6, 7, 27], "without": [2, 3, 4, 5, 7, 9, 13, 14, 16, 20, 29, 35, 42, 43], "combinedrobothardwar": 2, "drawback": [2, 54], "solut": [2, 7], "optim": [2, 9], "combin": [2, 8, 12, 13, 16, 23, 41, 42, 43, 44], "extern": [2, 4, 6, 8, 13, 16, 31], "defin": [2, 3, 5, 6, 9, 13, 14, 16, 27, 31, 35, 37, 40, 41, 42, 43, 44, 46, 48], "system": [2, 3, 4, 5, 6, 7, 11, 12, 14, 15, 16, 18, 20, 21, 22, 23, 24, 25, 26, 27, 28, 44, 52, 53, 54], "composit": [2, 7], "basic": [2, 3, 4, 5, 6, 7, 14, 16, 22, 35], "physic": [2, 4, 11, 12, 13], "cell": [2, 37], "surround": 2, "describ": [2, 4, 8, 12, 16, 18, 23, 27, 29, 43], "multi": [2, 4, 6, 7, 16, 23], "gripper": [2, 3, 4, 5, 7, 12, 13, 34], "out": [2, 3, 5, 9, 27, 33], "box": [2, 16, 18, 22, 23, 24, 25, 28, 29], "allow": [2, 3, 4, 5, 16, 27, 39, 42, 43, 44, 47], "joint": [2, 4, 7, 16, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 38, 39, 41, 42, 43, 45, 48, 50, 51, 54], "posit": [2, 3, 4, 5, 7, 9, 12, 15, 16, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 31, 33, 34, 36, 41, 42, 43, 44, 45, 48, 51], "veloc": [2, 3, 4, 5, 7, 8, 16, 21, 22, 23, 27, 31, 32, 33, 34, 39, 40, 41, 42, 43, 44, 45, 48, 51], "effort": [2, 3, 5, 16, 27, 34, 36, 39, 41, 42, 44], "hard": [2, 9], "data": [2, 4, 6, 13, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 34, 41, 43], "approach": [2, 8], "doe": [2, 8, 9, 14, 18, 21, 22, 23, 24, 25, 26, 27, 28, 35, 43, 44], "enforc": [2, 23, 27, 42], "string": [2, 9, 13, 16, 35, 38, 39, 40, 41, 42, 46, 48], "ensur": [2, 7, 9, 27, 43], "constant": [2, 16], "hardware_interfac": [2, 3, 4, 5, 11, 13, 14, 16, 21, 24, 25, 26, 27, 31, 33, 34, 35], "In": [2, 3, 4, 5, 6, 7, 8, 14, 16, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 34, 35, 41, 43, 48], "had": 2, "itself": [2, 8], "took": 2, "care": [2, 6, 9, 14, 23, 35, 44], "regist": [2, 3, 5], "resourc": [2, 3, 5, 14, 23], "conflict": [2, 4, 6], "resourcemanag": [2, 8], "take": [2, 6, 8, 14, 20, 23, 33, 35, 41, 43], "state": [2, 3, 4, 5, 6, 7, 9, 11, 12, 13, 14, 15, 16, 18, 19, 20, 22, 23, 24, 25, 26, 27, 28, 29, 34, 35, 37, 41, 42], "avail": [2, 4, 7, 15, 16, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 35, 41, 44], "enabl": [2, 4, 6, 7, 11, 14, 15, 16, 22, 31, 37, 48], "anymor": 2, "controllermanag": [2, 9], "implement": [2, 3, 4, 5, 6, 7, 9, 12, 13, 14, 16, 18, 20, 21, 22, 23, 24, 25, 26, 27, 28, 30, 31, 32, 33, 35, 38, 43, 44, 48, 49, 50, 54], "systeminterfac": [2, 3, 5, 13, 24, 27], "granular": 2, "sensorinterfac": [2, 21, 25], "actuatorinterfac": [2, 21, 26], "abov": [2, 18, 19, 20, 21, 22, 23, 24, 25, 26, 28, 29, 34, 43], "choos": [2, 16, 48], "suitabl": [2, 7], "strategi": [2, 16, 43], "decid": 2, "which": [2, 3, 4, 5, 6, 7, 9, 14, 15, 16, 18, 22, 23, 24, 25, 26, 27, 28, 29, 33, 34, 35, 37, 40, 41, 42, 43, 44, 46, 48, 49], "case": [2, 3, 5, 6, 7, 8, 16, 20, 27, 35, 41, 43, 44, 54], "mayb": [2, 8], "sens": [2, 4, 34, 37], "multipl": [2, 4, 7, 8, 12, 14, 16, 41, 42], "constructor": [2, 14, 27, 35], "initi": [2, 14, 27, 35, 43], "variabl": [2, 14, 27, 35, 42], "need": [2, 3, 4, 5, 6, 7, 8, 12, 14, 16, 18, 21, 22, 23, 24, 25, 26, 27, 28, 34, 35, 43], "commun": [2, 4, 6, 7, 14, 16, 18, 21, 22, 23, 24, 25, 27, 28, 53], "default": [2, 4, 8, 9, 13, 23, 30, 32, 38, 39, 40, 41, 42, 43, 44, 46, 48, 50], "configur": [2, 3, 4, 5, 6, 7, 8, 9, 11, 13, 16, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 35, 41, 42, 43, 44, 48], "paramet": [2, 3, 5, 7, 14, 16, 18, 22, 27, 35, 44], "pars": [2, 3, 5, 9, 10, 12], "urdf": [2, 7, 9, 12, 16, 18, 19, 20, 21, 22, 23, 24, 25, 26, 28, 29], "snippet": 2, "hardwareinfo": [2, 27], "here": [2, 10, 14, 27, 35, 36, 44, 45, 51], "cross": [2, 41], "valu": [2, 4, 6, 12, 13, 14, 16, 18, 19, 20, 22, 24, 25, 27, 29, 35, 40, 41, 42, 44, 46, 48], "export_": 2, "_interfac": [2, 14], "joint_a2": 2, "extract": [2, 33, 49], "sensibl": 2, "stop": [2, 7, 8, 9, 11, 15, 18, 22, 23, 27, 33, 42, 49], "usual": [2, 4, 9, 13, 14, 27, 35], "includ": [2, 3, 5, 6, 11, 14, 15, 27, 35, 44, 53], "command": [2, 3, 4, 5, 6, 7, 9, 10, 12, 13, 14, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 32, 33, 34, 35, 36, 38, 39, 42, 43, 45, 47, 50, 51, 54], "safe": [2, 27, 33, 35, 44, 49], "interrupt": [2, 9], "stream": [2, 7], "write": [2, 4, 7, 8, 9, 10, 20, 21, 22, 26, 34], "exchang": [2, 6, 18, 21, 22, 23, 24, 25, 26, 28, 54], "equival": [2, 27], "forget": [2, 4, 16, 44], "pluginlib_export_class": [2, 14, 16, 27, 35], "macro": [2, 4, 14, 16, 27, 35], "end": [2, 4, 11, 14, 27, 35, 42, 53], "cpp": [2, 14, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 35], "file": [2, 3, 4, 5, 6, 7, 9, 13, 14, 16, 31, 33, 35, 36, 44, 45, 51], "creat": [2, 3, 4, 5, 7, 9, 13, 14, 16, 27, 35], "xml": [2, 3, 5, 11, 14, 27, 35], "librari": [2, 4, 14, 15, 16, 30, 32, 34, 35, 48, 50], "pluginlib": [2, 3, 4, 5, 9, 14, 27, 35], "exampl": [2, 3, 4, 5, 6, 7, 8, 9, 13, 15, 22, 31, 36, 37, 41, 44, 45, 51, 54], "rrbotsystempositiononlyhardwar": [2, 4, 12, 15, 18, 20, 25], "excel": 2, "jointtrajectorycontrol": [2, 3, 5, 15, 18, 31, 44], "real": [2, 6, 7, 9, 13, 22, 35, 41, 42, 54], "critic": [2, 6], "mark": [2, 20], "controllerinterfac": [2, 4, 8, 15, 27, 35], "member": [2, 14, 27, 35, 43], "init": 2, "call": [2, 3, 4, 5, 8, 14, 22, 27, 35], "lifecycl": [2, 4, 7, 9, 11, 14, 27, 34], "declar": [2, 14, 27, 35], "state_interface_configur": [2, 27, 35], "command_interface_configur": [2, 27, 35], "design": [2, 4, 6, 7, 8, 27, 54], "updat": [2, 4, 8, 9, 16, 27, 34, 35, 44, 48], "manag": [2, 3, 5, 6, 7, 10, 11, 14, 15, 16, 27, 35, 44, 54], "option": [2, 3, 5, 9, 11, 13, 14, 15, 18, 23, 34, 35, 37, 41, 44, 48], "on_configur": [2, 14, 27, 35], "on_activ": [2, 11, 14, 27, 35], "on_deactiv": [2, 11, 14, 27, 35], "deactiv": [2, 4, 15, 18, 42], "final": [2, 7, 11, 27], "joint_trajectory_plugin": 2, "integr": [3, 4, 5, 6, 7, 13, 16, 20, 22, 27, 42, 43, 44, 54], "architectur": [3, 5, 6, 7], "gazebo": [3, 5, 6, 16, 18, 29, 52], "classic": [3, 16, 29, 52], "provid": [3, 4, 5, 6, 7, 8, 9, 12, 13, 14, 16, 18, 20, 23, 24, 25, 26, 27, 28, 29, 31, 35, 41, 42, 43, 44, 48, 54], "instanti": [3, 5, 9], "connect": [3, 4, 5, 13, 16, 24, 27], "model": [3, 5, 18, 27], "cd": [3, 4, 5, 16, 27], "docker": [3, 5, 17, 18, 20, 21, 22, 23, 24, 25, 26, 28, 29], "gui": [3, 5, 16, 18, 20, 21, 23, 24, 25, 26, 28, 29, 47], "properli": [3, 5, 8, 16, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29], "rm": [3, 4, 5, 16, 18, 29], "net": [3, 5, 7, 16, 18, 29], "host": [3, 5, 16, 18, 29, 53], "ros2": [3, 4, 5, 7, 9, 14, 15, 16, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 35], "launch": [3, 4, 5, 9, 13, 16, 18, 19, 20, 21, 22, 23, 24, 25, 26, 28, 29], "cart_example_posit": [3, 5], "py": [3, 5, 16, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29], "fals": [3, 5, 13, 16, 18, 29, 33, 39, 41, 42, 44, 48], "machin": [3, 4, 5, 6, 16, 29], "client": [3, 5, 29, 44], "gzclient": [3, 29], "rocker": [3, 5], "go": [3, 5, 7, 9, 14, 27, 35], "imag": [3, 5, 9, 29], "inject": [3, 5, 7], "nvidia": [3, 5], "And": 3, "user": [3, 5, 6, 9, 16, 27, 43], "id": [3, 5, 15, 18, 21, 22, 23, 24, 25, 26, 28], "specif": [3, 5, 6, 8, 9, 11, 12, 27, 29, 38, 41, 43, 44], "cleaner": [3, 5], "mount": [3, 5], "permiss": [3, 5, 9], "instal": [3, 5, 9, 14, 17, 18, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 35], "instruct": [3, 5, 22, 27, 29], "x11": [3, 5], "latest": [3, 4, 5], "move": [3, 5, 16, 18, 20, 21, 22, 23, 24, 25, 26, 28, 29, 39], "cart": [3, 5], "rail": [3, 5], "exec": [3, 5, 18], "bash": [3, 4, 5, 14, 16, 18, 27, 35], "home": [3, 5], "ros2_w": [3, 4, 5, 16], "example_posit": [3, 5], "element": [3, 5, 27], "access": [3, 4, 5, 7, 9, 13, 18, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 35, 41], "interfac": [3, 5, 6, 7, 8, 9, 10, 11, 13, 14, 16, 18, 20, 21, 22, 24, 25, 26, 29, 30, 32, 34, 35, 37, 40, 42, 43, 46, 50, 52, 53, 54], "gazebosystem": 3, "hardwar": [3, 5, 7, 8, 10, 13, 15, 16, 18, 19, 20, 21, 22, 23, 24, 25, 26, 28, 29, 33, 34, 35, 42, 49, 54], "slider_to_cart": [3, 5, 36, 45, 51], "command_interfac": [3, 4, 5, 12, 20, 27, 31, 42, 44], "param": [3, 4, 5, 9, 12, 13, 22, 27], "min": [3, 4, 5, 12, 27], "1000": [3, 5, 27], "max": [3, 4, 5, 12, 27, 39], "state_interfac": [3, 4, 5, 12, 27, 31, 42, 44], "initial_valu": [3, 5, 27], "mimick": [3, 5, 13], "manual": [3, 4, 5, 6, 9, 14, 16, 18, 23, 24, 25, 26, 28, 29, 35, 54], "multipli": [3, 5, 13], "definit": [3, 4, 5, 9, 14, 27, 31, 33, 34, 35, 37, 42], "left_finger_joint": [3, 5], "prismat": [3, 5], "right_finger_joint": [3, 5], "axi": [3, 5, 6, 27, 30, 32, 33, 37, 50], "xyz": [3, 5, 27], "rpy": [3, 5, 27], "1415926535": [3, 5], "parent": [3, 5, 14, 27, 35], "base": [3, 4, 5, 7, 11, 14, 15, 16, 21, 22, 26, 27, 33, 35, 38, 48, 49, 52], "child": [3, 5, 12, 27], "finger_left": [3, 5], "lower": [3, 5, 27], "upper": [3, 5, 27], "actual": [3, 5, 8], "load": [3, 4, 5, 9, 14, 15, 16, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 34, 35], "appropri": [3, 5, 6, 43], "By": [3, 5, 9, 27, 41, 43], "though": [3, 5, 20], "extens": [3, 5], "via": [3, 4, 5, 16, 18, 24, 25, 27, 29, 44], "between": [3, 4, 5, 6, 11, 12, 16, 27, 30, 32, 41, 42, 43, 44, 50], "filenam": [3, 5, 27], "libgazebo_ros2_control": 3, "so": [3, 4, 5, 8, 9, 14, 27, 31, 35, 44], "robot_param": [3, 5], "robot_descript": [3, 5, 9, 18, 27], "robot_param_nod": [3, 5], "robot_state_publish": [3, 5, 41], "config": [3, 5, 16], "cartpole_control": [3, 5], "yaml": [3, 4, 5, 6, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 44], "locat": [3, 27, 31], "server": [3, 39, 44], "node": [3, 4, 5, 9, 11, 13, 15, 18, 21, 22, 23, 24, 25, 26, 27, 28, 29, 35], "attempt": [3, 5, 9, 44], "get": [3, 5, 7, 8, 9, 11, 14, 16, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 43, 54], "most": [3, 5, 6, 14, 16, 27, 35], "least": [3, 5, 12, 14, 35, 44], "jointstateinterfac": [3, 5], "effortjointinterfac": [3, 5], "velocityjointinterfac": [3, 5], "complex": [3, 4, 5, 6, 7, 8], "mechan": [3, 5, 8, 44], "nonlinear": [3, 5], "spring": [3, 5], "linkag": [3, 5, 18, 20, 28], "etc": [3, 5, 9, 23, 27, 54], "These": [3, 5, 16, 27], "inherit": [3, 5, 9, 27], "gazebosysteminterfac": 3, "level": [3, 5, 6, 7, 9, 20, 21, 26, 36, 43, 45, 51], "properti": [3, 5, 27], "sub": [3, 5], "class": [3, 4, 5, 7, 9, 11, 14, 15, 27, 35, 38, 43], "specifi": [3, 5, 9, 14, 16, 27, 34, 35, 42, 43, 44], "insid": [3, 5, 13, 16, 18], "publish": [3, 5, 6, 8, 12, 16, 19, 27, 31, 34, 37, 40, 41, 43, 46, 49, 54], "stateinterfac": [3, 5, 27], "topic": [3, 5, 6, 7, 8, 12, 18, 19, 20, 21, 22, 23, 24, 25, 26, 28, 29, 34, 44, 52], "sensor_msg": [3, 5, 40, 46], "msg": [3, 5, 18, 19, 20, 21, 22, 23, 24, 25, 26, 28, 29, 31, 33, 36, 37, 38, 40, 43, 44, 45, 46, 48, 51], "jointstat": [3, 5], "joint_state_control": [3, 5, 15], "ros__paramet": [3, 5, 36, 44, 45, 51], "jointstatecontrol": [3, 5, 15], "action": [3, 5, 8, 42], "cart_pole_control": [3, 5], "follow_joint_trajectori": [3, 5, 44], "followjointtrajectori": [3, 5, 42, 44], "joint_trajectory_control": [3, 5, 6, 15, 18, 34, 47], "write_op_mod": [3, 5], "contain": [3, 16, 17, 18, 20, 21, 22, 23, 24, 25, 26, 27, 28, 31, 36, 42, 43, 45, 48, 51], "content": [3, 14, 27, 35], "There": [3, 4, 5, 9, 11, 14, 16, 21, 24, 25, 26, 35, 43, 44], "meter": [3, 5, 27], "cart_example_veloc": [3, 5], "cart_example_effort": [3, 5], "diff_driv": 3, "tricycle_dr": 3, "world": [3, 5, 9, 13, 27], "example_veloc": [3, 5], "example_effort": [3, 5], "example_diff_dr": [3, 5], "example_tricycle_dr": [3, 5], "parallel": [3, 4, 5, 12, 13], "gripper_mimic_joint_exampl": [3, 5], "send": [3, 5, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 43, 44], "example_gripp": [3, 5], "iron": [4, 16, 27], "want": [4, 8, 9, 16], "download": [4, 16], "mkdir": [4, 16], "p": [4, 9, 16, 42], "src": [4, 14, 16, 18, 27, 29, 31, 35], "wget": 4, "raw": 4, "githubusercont": 4, "com": [4, 6, 16, 27], "org": [4, 6, 30, 32, 50], "ros_control": [4, 6, 7, 54], "vc": [4, 16], "import": [4, 14, 16, 27, 35, 42], "rosdep": [4, 16], "rosdistro": [4, 16], "sudo": [4, 9, 16], "apt": [4, 16], "path": [4, 7, 16, 27, 44], "ignor": [4, 9, 16, 33, 42, 48, 49], "r": [4, 16, 28], "y": [4, 16, 22, 24, 25, 31, 37, 40], "everyth": [4, 14, 16, 18, 20, 21, 22, 23, 24, 25, 26, 28, 29, 35], "opt": [4, 16, 18], "setup": [4, 13, 14, 16, 18, 22, 27, 29, 35, 43], "sh": [4, 16, 18, 29], "colcon": [4, 14, 16, 27, 35], "symlink": [4, 16, 27], "folder": [4, 7, 14, 16, 18, 19, 22, 30, 31, 32, 35, 48, 50], "found": [4, 9, 10, 14, 18, 19, 22, 31, 33, 35, 38, 44, 54], "github": [4, 6, 10, 16, 27, 34, 52, 53, 54], "figur": [4, 43], "uml": 4, "diagram": [4, 15], "intern": [4, 6, 8, 12, 14, 18, 20, 21, 22, 23, 24, 25, 26, 28, 31, 43, 44], "cm": [4, 9], "abstract": [4, 7, 11, 27], "side": [4, 6, 7], "entri": [4, 35], "point": [4, 27, 35, 42, 43, 44, 54], "servic": [4, 6, 9, 11, 27, 34], "executor": [4, 9], "custom": [4, 12, 13, 16, 21, 22, 37, 41, 52], "howev": [4, 6, 8, 9, 16, 20, 27], "recommend": [4, 7, 14], "ros2_control_nod": [4, 23, 27], "controller_manag": [4, 5, 6, 9, 15, 23, 34, 35, 36, 44, 45, 51], "assum": [4, 8], "On": [4, 27], "hand": [4, 27, 53], "unload": [4, 9, 15], "match": [4, 16, 43], "report": [4, 6, 41, 54], "error": [4, 6, 9, 14, 20, 23, 27, 35, 41, 42, 44], "execut": [4, 14, 16, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 32, 35, 39, 42, 43, 44, 50], "loop": [4, 7, 9, 13, 18, 23, 24, 25, 26, 27, 28, 29, 35, 41, 42, 44, 48], "output": [4, 6, 7, 12, 15, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 31, 37], "driver": [4, 7, 16, 27, 53], "reus": [4, 7, 8], "flexibl": 4, "motor": [4, 8, 53], "encod": [4, 27], "theori": [4, 54], "compar": [4, 6, 7], "refer": [4, 8, 20, 27, 53], "measur": [4, 13, 21, 31, 37, 41, 42, 53], "calcul": [4, 27, 31, 43, 48], "input": [4, 6, 7, 8, 12, 19, 20, 27, 31, 33, 36, 38, 42, 43, 45, 48, 49, 51], "object": [4, 27], "deriv": [4, 42, 43], "controller_interfac": [4, 15, 27, 31, 35, 37, 40, 46], "export": [4, 8, 9, 14, 16, 27, 31, 35], "plugin": [4, 9, 11, 12, 14, 15, 16, 18, 19, 20, 21, 22, 23, 24, 25, 26, 28, 29, 31, 35, 47], "forwardcommandcontrol": [4, 18, 19, 20, 21, 23, 24, 25, 26, 28, 29], "lifecyclenod": 4, "document": [4, 6, 7, 12, 13, 14, 16, 22, 33, 34, 43, 44], "interact": [4, 7, 9, 15, 19, 27, 29], "srv": [4, 44], "controller_manager_msg": 4, "while": [4, 6, 7, 27, 43], "directli": [4, 18, 20, 29, 54], "line": [4, 10, 11, 14, 18, 27, 35, 41, 43], "friendli": 4, "cli": [4, 9, 10, 15, 18, 19, 22, 23, 24, 25, 26, 28, 29], "auto": [4, 9], "complet": [4, 11, 20, 27, 43], "rang": [4, 12, 34], "common": [4, 6, 16, 41, 54], "capabl": [4, 6], "realiz": [4, 7, 43, 44], "repres": [4, 11, 27, 33, 34, 43], "dynam": [4, 14, 27, 35], "dof": [4, 12, 16, 27, 39], "differ": [4, 6, 7, 12, 14, 16, 18, 19, 22, 23, 27, 36, 37, 41, 43, 45, 48, 51], "transmiss": [4, 16], "humanoid": 4, "logic": 4, "channel": [4, 53], "kuka": [4, 18, 23, 24, 25, 53], "rsi": [4, 18, 24, 25, 53], "relat": [4, 6, 7], "forc": [4, 7, 12, 15, 24, 25, 31, 34, 53], "torqu": [4, 12, 24, 25, 31, 34], "simpl": [4, 6, 7, 8, 14, 16, 18, 20, 22, 27, 28, 35, 39], "valv": [4, 12], "mandatori": [4, 9, 37, 42], "dc": 4, "arduino": [4, 21, 26], "board": 4, "modular": [4, 7, 16, 27], "independ": [4, 7, 25], "explan": [4, 9, 14], "given": [4, 9, 17, 18, 20, 21, 22, 23, 24, 25, 26, 28, 36, 42, 43, 44, 45, 51], "through": [4, 6, 7, 8, 9, 14, 15, 16, 20, 27, 35, 44, 54], "tag": [4, 9, 12, 14, 16, 18, 19, 20, 21, 22, 23, 24, 26, 27, 28, 29, 35, 54], "chosen": [4, 12], "structur": [4, 6, 8, 9, 14, 27, 33, 35, 42, 43], "track": [4, 30, 50, 54], "togeth": [4, 8, 12, 22, 24, 48], "xacro": [4, 9, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29], "hereund": 4, "rrbot": [4, 12, 15, 16, 19, 21, 23, 24, 25, 26, 28], "effector": [4, 53], "site": 4, "rrbotsystempositiononli": [4, 25], "ros2_control_demo_hardwar": [4, 12, 15], "example_param_write_for_sec": 4, "example_param_read_for_sec": [4, 12], "joint1": [4, 12, 13, 15, 18, 19, 20, 21, 23, 24, 25, 26, 28, 29, 44], "joint2": [4, 12, 15, 18, 19, 20, 21, 23, 24, 25, 26, 28, 29, 44], "rrbotforcetorquesensor1d": 4, "forcetorquesensor1dhardwar": 4, "tcp_fts_sensor": [4, 12, 24, 25], "frame_id": [4, 12, 24, 25, 37, 40, 46, 48], "rrbot_tcp": 4, "min_forc": 4, "max_forc": 4, "rrbotgripp": 4, "positionactuatorhardwar": 4, "gripper_joint": 4, "instead": [4, 13, 22, 27, 29, 42], "pure": 4, "stack": [4, 7, 54], "could": [4, 7, 8, 16, 23, 35, 41, 44], "altern": [4, 18, 44], "script": [4, 6, 14, 35], "skeleton": 4, "sim": [5, 15, 52], "dockerfil": [5, 16], "Then": [5, 8, 16, 27, 29, 43], "ign": 5, "meet": [5, 54], "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": 5, "about": [6, 8, 13, 14, 23, 33, 40, 41, 44, 54], "gener": [6, 7, 12, 14, 15, 21, 22, 23, 24, 25, 26, 27, 34, 35, 44, 48, 54], "task": [6, 7, 33], "envis": 6, "simul": [6, 13, 15, 16, 18, 20, 22, 24, 25, 27], "ignit": 6, "showcas": [6, 7], "grace": 6, "degrad": 6, "roadmap": [6, 16, 54], "place": [6, 35], "draft": 6, "gpio": [6, 16, 27], "mode": [6, 8, 14, 20, 23, 31, 42, 43, 48], "switch": [6, 15, 16, 18, 23], "movement": 6, "safeti": [6, 27], "skill": 6, "prefer": 6, "c": [6, 9, 12, 14, 15, 18, 27], "familiar": [6, 54], "mentor": 6, "\u0161togl": [6, 7], "size": [6, 46], "350": 6, "hour": 6, "difficulti": 6, "medium": 6, "focus": [6, 7, 8], "although": 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"kernel": [7, 9], "agnost": [7, 27], "share": [7, 14, 27, 29, 35, 48], "well": [7, 9, 15, 16, 17, 18, 20, 21, 22, 23, 24, 25, 26, 28, 44], "perform": [7, 9, 27], "heavi": 7, "stogl": 7, "consult": 7, "practition": 7, "guid": [7, 14, 35], "top": 7, "virtual": [7, 8, 32], "talk": 7, "delv": 7, "deeper": 7, "what": [7, 18, 27], "explicit": [7, 9, 27, 42], "chain": [7, 10, 15, 16, 27, 31, 42, 48], "emerg": 7, "handler": 7, "mock": [7, 10, 14], "usag": [7, 8, 9, 12, 15, 17, 18, 20, 21, 22, 23, 24, 25, 26, 28], "openli": 7, "record": 7, "fiveai": 7, "ltd": 7, "best": [7, 9, 35], "focu": [7, 8], "becom": [7, 20], "util": 7, "3rd": 7, "parti": 7, "nav2": [7, 34], "practic": 7, "tip": [7, 27], "hot": 7, "shown": [7, 27, 43], "furthermor": [7, 22], "offer": [7, 9, 14, 27], "expos": [7, 16, 20], "problem": [7, 54], "manipul": [7, 16, 18, 20, 27, 28, 42], "plan": [7, 54], "autonom": 7, "navig": 7, "ideal": [7, 13], "made": [7, 11], "mobil": [7, 16, 22, 33, 48, 49], "arm": [7, 18, 20, 28], "extra": 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repository": [[16, "what-you-can-find-in-this-repository"]], "Goals": [[16, "goals"]], "Examples Overview": [[16, "examples-overview"]], "Local installation": [[16, "local-installation"]], "Build from debian packages": [[16, "build-from-debian-packages"]], "Build from source": [[16, "build-from-source"]], "Using Docker": [[16, "using-docker"]], "To view the robot": [[16, "to-view-the-robot"]], "To run the ros2_control demos": [[16, "to-run-the-ros2-control-demos"]], "Quick Hints": [[16, "quick-hints"]], "Example 1: RRBot": [[18, "example-1-rrbot"]], "Tutorial steps": [[18, "tutorial-steps"], [20, "tutorial-steps"], [21, "tutorial-steps"], [22, "tutorial-steps"], [23, "tutorial-steps"], [24, "tutorial-steps"], [25, "tutorial-steps"], [26, "tutorial-steps"], [28, "tutorial-steps"], [29, "tutorial-steps"]], "Files used for this demos": [[18, "files-used-for-this-demos"], [19, "files-used-for-this-demos"], [20, "files-used-for-this-demos"], [21, "files-used-for-this-demos"], [22, 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"diffbot"]], "Example 3: Robots with multiple interfaces": [[23, "example-3-robots-with-multiple-interfaces"]], "Example 4: Industrial robot with integrated sensor": [[24, "example-4-industrial-robot-with-integrated-sensor"]], "Files used for this demo": [[24, "files-used-for-this-demo"]], "Example 5: Industrial robot with externally connected sensor": [[25, "example-5-industrial-robot-with-externally-connected-sensor"]], "Example 6: Modular Robots with separate communication to each actuator": [[26, "example-6-modular-robots-with-separate-communication-to-each-actuator"]], "Example 7: Full tutorial with a 6DOF robot": [[27, "example-7-full-tutorial-with-a-6dof-robot"]], "ros2_control overview": [[27, "ros2-control-overview"]], "Writing a URDF": [[27, "writing-a-urdf"]], "Geometry": [[27, "geometry"]], "URDF file": [[27, "urdf-file"]], "Writing a hardware interface": [[27, "writing-a-hardware-interface"]], "Plugin description file (hardware)": [[27, 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33, 34, 36, 44, 45, 52], "thoma": 1, "cokela": 1, "info": [1, 10, 12, 15, 28], "tutori": [1, 17], "sphinx": 1, "rest_syntax": 1, "html": 1, "id8": 1, "type": [1, 2, 3, 4, 5, 7, 9, 10, 11, 12, 15, 16, 17, 22, 23, 25, 26, 27, 28, 34, 35, 36, 37, 38, 41, 43, 46, 47, 48, 50, 53], "stabl": 1, "against": 1, "accept": [1, 15, 24, 36, 37, 43, 44, 45, 47, 53], "api": [1, 3, 5, 6, 15, 19, 22, 23, 24, 25, 26, 27, 29], "abi": 1, "chang": [1, 2, 4, 7, 10, 12, 15, 16, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 36, 43, 44, 45], "e": [1, 2, 4, 6, 7, 9, 10, 13, 14, 15, 17, 19, 20, 21, 22, 24, 25, 26, 27, 28, 29, 30, 32, 36, 37, 38, 42, 43, 44, 46, 47, 50, 53, 56], "name": [1, 2, 3, 4, 5, 7, 10, 13, 14, 15, 16, 17, 19, 21, 22, 23, 25, 26, 27, 28, 30, 32, 36, 38, 39, 41, 42, 43, 46, 48, 50], "convent": [1, 28], "master": [1, 4, 17, 28], "semi": 1, "binari": 1, "good": [1, 3, 5, 6], "same": [1, 8, 9, 24, 28, 35, 38, 43, 44, 45, 46], "build": [1, 8, 15, 28, 32, 36], "dai": 1, "ros_distro": [1, 4, 17, 19], "foxi": [1, 7, 15], "galact": [1, 12, 15], "releas": [1, 4, 7, 17, 28], "version": [1, 6, 8, 17, 45], "non": [1, 7, 21, 28, 38, 55], "brake": 1, "distribut": [1, 17, 56], "three": [1, 2, 4, 12, 13, 17, 28, 36, 44, 52], "stage": [1, 9, 21], "current": [1, 6, 12, 13, 15, 16, 44, 45, 50], "futur": [1, 7, 9, 44, 45], "compat": [1, 2, 7, 15, 17], "packag": [1, 2, 3, 5, 12, 15, 28, 31, 32, 33, 34, 36, 37, 38, 41, 45, 46, 47, 48, 50, 52, 53, 56], "direct": [1, 2, 6, 15, 28, 36, 43], "local": [1, 3, 5, 8, 18, 19, 21, 22, 23, 24, 25, 26, 27, 29, 30, 42], "possibl": [1, 4, 6, 10, 13, 17, 19, 22, 23, 24, 25, 26, 27, 29, 32, 36, 44], "core": [1, 11, 28], "immedi": [1, 10, 19, 21, 22, 24, 25, 26, 27, 28, 29, 30, 46], "depend": [1, 4, 8, 12, 13, 15, 17, 18, 19, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 35, 36, 44, 46, 50], "fail": [1, 24, 28], "expect": [1, 6, 7, 8, 21, 28, 31, 33, 45, 50, 52], "after": [1, 9, 10, 15, 17, 19, 28, 34, 36, 43, 44, 45, 50, 51], "next": [1, 19, 28, 44], "sync": 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15, 17, 23, 36], "physic": [2, 4, 12, 13, 14], "cell": [2, 38], "surround": 2, "describ": [2, 4, 9, 13, 17, 19, 24, 28, 30, 44], "multi": [2, 4, 6, 7, 8, 17, 24], "gripper": [2, 3, 4, 5, 7, 13, 14, 35], "out": [2, 3, 5, 10, 28, 34], "box": [2, 17, 19, 23, 24, 25, 26, 29, 30], "allow": [2, 3, 4, 5, 17, 28, 40, 43, 44, 45, 49], "joint": [2, 4, 7, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 39, 40, 42, 43, 44, 46, 47, 50, 52, 53, 56], "posit": [2, 3, 4, 5, 7, 10, 13, 16, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 32, 34, 35, 37, 42, 43, 44, 45, 46, 47, 50, 53], "veloc": [2, 3, 4, 5, 7, 9, 17, 22, 23, 24, 28, 32, 33, 34, 35, 40, 41, 42, 43, 44, 45, 46, 47, 50, 53], "effort": [2, 3, 5, 17, 28, 35, 37, 40, 42, 43, 45, 46], "hard": [2, 10], "data": [2, 4, 6, 14, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 35, 42, 44], "approach": [2, 9], "doe": [2, 10, 15, 19, 22, 23, 24, 25, 26, 27, 28, 29, 36, 44, 45], "enforc": [2, 24, 28, 43], "string": [2, 10, 14, 17, 36, 39, 40, 41, 42, 43, 46, 48, 50], "ensur": [2, 7, 10, 28, 44], "constant": [2, 17], "hardware_interfac": [2, 3, 4, 5, 12, 14, 15, 17, 22, 25, 26, 27, 28, 32, 34, 35, 36], "In": [2, 3, 4, 5, 6, 7, 9, 15, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 35, 36, 42, 44, 50], "had": 2, "itself": [2, 9], "took": 2, "care": [2, 6, 10, 15, 24, 36, 45], "regist": [2, 3, 5], "resourc": [2, 3, 5, 15, 24], "conflict": [2, 4, 6], "resourcemanag": [2, 9], "take": [2, 6, 9, 15, 21, 24, 34, 36, 42, 44], "state": [2, 3, 4, 5, 6, 7, 9, 10, 12, 13, 14, 15, 16, 17, 19, 20, 21, 23, 24, 25, 26, 27, 28, 29, 30, 35, 36, 38, 42, 43], "avail": [2, 4, 7, 9, 16, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 36, 42, 45], "enabl": [2, 4, 6, 7, 12, 15, 16, 17, 23, 32, 38, 46, 50], "anymor": 2, "controllermanag": [2, 10], "implement": [2, 3, 4, 5, 6, 7, 10, 13, 14, 15, 17, 19, 21, 22, 23, 24, 25, 26, 27, 28, 29, 31, 32, 33, 34, 36, 39, 44, 45, 46, 50, 51, 52, 56], "systeminterfac": [2, 3, 5, 14, 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15, 17, 19, 23, 28, 36, 45], "pars": [2, 3, 5, 10, 11, 13], "urdf": [2, 7, 10, 13, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 29, 30], "snippet": 2, "hardwareinfo": [2, 28], "here": [2, 11, 15, 28, 36, 37, 45, 47, 53], "cross": [2, 42], "valu": [2, 4, 6, 13, 14, 15, 17, 19, 20, 21, 23, 25, 26, 28, 30, 36, 41, 42, 43, 45, 48, 50], "export_": 2, "_interfac": [2, 15], "joint_a2": 2, "extract": [2, 34, 51], "sensibl": 2, "stop": [2, 7, 9, 10, 12, 16, 19, 23, 24, 28, 34, 43, 51], "usual": [2, 4, 10, 14, 15, 28, 36], "includ": [2, 3, 5, 6, 8, 10, 12, 15, 16, 28, 36, 45, 55], "command": [2, 3, 4, 5, 6, 7, 8, 10, 11, 13, 14, 15, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 33, 34, 35, 36, 37, 39, 40, 43, 44, 47, 49, 52, 53, 56], "safe": [2, 28, 34, 36, 45, 51], "interrupt": [2, 10], "stream": [2, 7], "write": [2, 4, 7, 9, 10, 11, 21, 22, 23, 27, 35, 46], "exchang": [2, 6, 19, 22, 23, 24, 25, 26, 27, 29, 56], "equival": [2, 28], "forget": [2, 4, 17, 45], "pluginlib_export_class": 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7, 9, 15, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 35, 36, 42, 44, 50], "had": 2, "itself": [2, 9], "took": 2, "care": [2, 6, 10, 15, 24, 36, 45], "regist": [2, 3, 5], "resourc": [2, 3, 5, 15, 24], "conflict": [2, 4, 6], "resourcemanag": [2, 9], "take": [2, 6, 9, 15, 21, 24, 34, 36, 42, 44], "state": [2, 3, 4, 5, 6, 7, 9, 10, 12, 13, 14, 15, 16, 17, 19, 20, 21, 23, 24, 25, 26, 27, 28, 29, 30, 35, 36, 38, 42, 43], "avail": [2, 4, 7, 9, 16, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 36, 42, 45], "enabl": [2, 4, 6, 7, 12, 15, 16, 17, 23, 32, 38, 46, 50], "anymor": 2, "controllermanag": [2, 10], "implement": [2, 3, 4, 5, 6, 7, 10, 13, 14, 15, 17, 19, 21, 22, 23, 24, 25, 26, 27, 28, 29, 31, 32, 33, 34, 36, 39, 44, 45, 46, 50, 51, 52, 56], "systeminterfac": [2, 3, 5, 14, 25, 28], "granular": 2, "sensorinterfac": [2, 22, 26], "actuatorinterfac": [2, 22, 27], "abov": [2, 19, 20, 21, 22, 23, 24, 25, 26, 27, 29, 30, 35, 44], "choos": [2, 17, 50], "suitabl": [2, 7], "strategi": [2, 17, 44], "decid": 2, "which": [2, 3, 4, 5, 6, 7, 8, 10, 15, 16, 17, 19, 23, 24, 25, 26, 27, 28, 29, 30, 34, 35, 36, 38, 41, 42, 43, 44, 45, 48, 50, 51], "case": [2, 3, 5, 6, 7, 9, 17, 21, 28, 36, 42, 44, 45, 56], "mayb": [2, 9], "sens": [2, 4, 35, 38], "multipl": [2, 4, 7, 9, 13, 15, 17, 42, 43], "constructor": [2, 15, 28, 36], "initi": [2, 15, 28, 36, 44], "variabl": [2, 15, 28, 36, 43], "need": [2, 3, 4, 5, 6, 7, 9, 13, 15, 17, 19, 22, 23, 24, 25, 26, 27, 28, 29, 35, 36, 44, 46], "commun": [2, 4, 6, 7, 15, 17, 19, 22, 23, 24, 25, 26, 28, 29, 55], "default": [2, 4, 9, 10, 14, 24, 31, 33, 39, 40, 41, 42, 43, 44, 45, 46, 48, 50, 52], "configur": [2, 3, 4, 5, 6, 7, 9, 10, 12, 14, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 36, 42, 43, 44, 45, 50], "paramet": [2, 3, 5, 7, 8, 15, 17, 19, 23, 28, 36, 45], "pars": [2, 3, 5, 10, 11, 13], "urdf": [2, 7, 10, 13, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 29, 30], "snippet": 2, "hardwareinfo": [2, 28], "here": [2, 11, 15, 28, 36, 37, 45, 47, 53], "cross": [2, 42], "valu": [2, 4, 6, 13, 14, 15, 17, 19, 20, 21, 23, 25, 26, 28, 30, 36, 41, 42, 43, 45, 48, 50], "export_": 2, "_interfac": [2, 15], "joint_a2": 2, "extract": [2, 34, 51], "sensibl": 2, "stop": [2, 7, 9, 10, 12, 16, 19, 23, 24, 28, 34, 43, 51], "usual": [2, 4, 10, 14, 15, 28, 36], "includ": [2, 3, 5, 6, 8, 10, 12, 15, 16, 28, 36, 45, 55], "command": [2, 3, 4, 5, 6, 7, 8, 10, 11, 13, 14, 15, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 33, 34, 35, 36, 37, 39, 40, 43, 44, 47, 49, 52, 53, 56], "safe": [2, 28, 34, 36, 45, 51], "interrupt": [2, 10], "stream": [2, 7], "write": [2, 4, 7, 9, 10, 11, 21, 22, 23, 27, 35, 46], "exchang": [2, 6, 19, 22, 23, 24, 25, 26, 27, 29, 56], "equival": [2, 28], "forget": [2, 4, 17, 45], "pluginlib_export_class": [2, 15, 17, 28, 36], "macro": [2, 4, 15, 17, 28, 36], "end": [2, 4, 12, 15, 28, 36, 43, 55], "cpp": [2, 15, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 36], "file": [2, 3, 4, 5, 6, 7, 10, 14, 15, 17, 32, 34, 36, 37, 45, 47, 53], "creat": [2, 3, 4, 5, 7, 10, 14, 15, 17, 28, 36], "xml": [2, 3, 5, 12, 15, 28, 36], "librari": [2, 4, 15, 16, 17, 31, 33, 35, 36, 46, 50, 52], "pluginlib": [2, 3, 4, 5, 10, 15, 28, 36, 46], "exampl": [2, 3, 4, 5, 6, 7, 9, 10, 14, 16, 23, 32, 37, 38, 42, 45, 46, 47, 53, 56], "rrbotsystempositiononlyhardwar": [2, 4, 13, 16, 19, 21, 26], "excel": 2, "jointtrajectorycontrol": [2, 3, 5, 16, 19, 32, 45], "real": [2, 6, 7, 10, 14, 23, 36, 42, 43, 56], "critic": [2, 6], "mark": [2, 21], "controllerinterfac": [2, 4, 9, 16, 28, 36], "member": [2, 15, 28, 36, 44], "init": 2, "call": [2, 3, 4, 5, 9, 15, 23, 28, 36], "lifecycl": [2, 4, 7, 10, 12, 15, 28, 35], "declar": [2, 15, 28, 36], "state_interface_configur": [2, 28, 36], "command_interface_configur": [2, 28, 36], "design": [2, 4, 6, 7, 9, 28, 56], "updat": [2, 4, 9, 10, 17, 28, 35, 36, 45, 50], "manag": [2, 3, 5, 6, 7, 11, 12, 15, 16, 17, 28, 36, 45, 56], "option": [2, 3, 5, 10, 12, 14, 15, 16, 19, 24, 35, 36, 38, 42, 45, 46, 50], "on_configur": [2, 15, 28, 36], "on_activ": [2, 12, 15, 28, 36], "on_deactiv": [2, 12, 15, 28, 36], "deactiv": [2, 4, 16, 19, 43], "final": [2, 7, 12, 28], "joint_trajectory_plugin": 2, "integr": [3, 4, 5, 6, 7, 14, 17, 21, 23, 28, 43, 44, 45, 56], "architectur": [3, 5, 6, 7, 8], "gazebo": [3, 5, 6, 17, 19, 30, 54], "classic": [3, 17, 30, 54], "provid": [3, 4, 5, 6, 7, 9, 10, 13, 14, 15, 17, 19, 21, 24, 25, 26, 27, 28, 29, 30, 32, 36, 42, 43, 44, 45, 50, 56], "instanti": [3, 5, 10], "connect": [3, 4, 5, 14, 17, 25, 28], "model": [3, 5, 19, 28], "cd": [3, 4, 5, 8, 17, 28], "docker": [3, 5, 8, 18, 19, 21, 22, 23, 24, 25, 26, 27, 29, 30], "gui": [3, 5, 17, 19, 21, 22, 24, 25, 26, 27, 29, 30, 49], "properli": [3, 5, 9, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30], "rm": [3, 4, 5, 17, 19, 30], "net": [3, 5, 7, 17, 19, 30], "host": [3, 5, 17, 19, 30, 55], "ros2": [3, 4, 5, 7, 10, 15, 16, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 36], "launch": [3, 4, 5, 10, 14, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 29, 30], "cart_example_posit": [3, 5], "py": [3, 5, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30], "fals": [3, 5, 14, 17, 19, 30, 34, 40, 42, 43, 45, 46, 50], "machin": [3, 4, 5, 6, 17, 30], "client": [3, 5, 30, 45], "gzclient": [3, 30], "rocker": [3, 5], "go": [3, 5, 7, 10, 15, 28, 36], "imag": [3, 5, 10, 30], "inject": [3, 5, 7, 8], "nvidia": [3, 5], "And": 3, "user": [3, 5, 6, 10, 17, 28, 44], "id": [3, 5, 16, 19, 22, 23, 24, 25, 26, 27, 29], "specif": [3, 5, 6, 9, 10, 12, 13, 28, 30, 39, 42, 44, 45], "cleaner": [3, 5], "mount": [3, 5], "permiss": [3, 5, 10], "instal": [3, 5, 8, 10, 15, 18, 19, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 36], "instruct": [3, 5, 8, 23, 28, 30], "x11": [3, 5], "latest": [3, 4, 5, 8], "move": [3, 5, 17, 19, 21, 22, 23, 24, 25, 26, 27, 29, 30, 40], "cart": [3, 5], "rail": [3, 5], "exec": [3, 5, 19], "bash": [3, 4, 5, 8, 15, 17, 19, 28, 36], "home": [3, 5], "ros2_w": [3, 4, 5, 17], "example_posit": [3, 5], "element": [3, 5, 28], "access": [3, 4, 5, 7, 10, 14, 19, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 36, 42], "interfac": [3, 5, 6, 7, 9, 10, 11, 12, 14, 15, 17, 19, 21, 22, 23, 25, 26, 27, 30, 31, 33, 35, 36, 38, 41, 43, 44, 48, 52, 54, 55, 56], "gazebosystem": 3, "hardwar": [3, 5, 7, 8, 9, 11, 14, 16, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 29, 30, 34, 35, 36, 43, 46, 51, 56], "slider_to_cart": [3, 5, 37, 47, 53], "command_interfac": [3, 4, 5, 13, 21, 28, 32, 43, 45, 46], "param": [3, 4, 5, 10, 13, 14, 23, 28], "min": [3, 4, 5, 13, 28], "1000": [3, 5, 28], "max": [3, 4, 5, 13, 28, 40], "state_interfac": [3, 4, 5, 13, 28, 32, 43, 45], "initial_valu": [3, 5, 28], "mimick": [3, 5, 14], "manual": [3, 4, 5, 6, 10, 15, 17, 19, 24, 25, 26, 27, 29, 30, 36, 56], "multipli": [3, 5, 14], "definit": [3, 4, 5, 10, 15, 28, 32, 34, 35, 36, 38, 43], "left_finger_joint": [3, 5], "prismat": [3, 5], "right_finger_joint": [3, 5], "axi": [3, 5, 6, 28, 31, 33, 34, 38, 52], "xyz": [3, 5, 28], "rpy": [3, 5, 28], "1415926535": [3, 5], "parent": [3, 5, 15, 28, 36], "base": [3, 4, 5, 7, 12, 15, 16, 17, 22, 23, 27, 28, 34, 36, 39, 50, 51, 54], "child": [3, 5, 13, 28], "finger_left": [3, 5], "lower": [3, 5, 28], "upper": [3, 5, 28], "actual": [3, 5, 9], "load": [3, 4, 5, 10, 15, 16, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 35, 36], "appropri": [3, 5, 6, 44], "By": [3, 5, 10, 28, 42, 44], "though": [3, 5, 10, 21], "extens": [3, 5], "via": [3, 4, 5, 17, 19, 25, 26, 28, 30, 45], "between": [3, 4, 5, 6, 12, 13, 17, 28, 31, 33, 42, 43, 44, 45, 46, 52], "filenam": [3, 5, 28], "libgazebo_ros2_control": 3, "so": [3, 4, 5, 9, 10, 15, 28, 32, 36, 45], "robot_param": [3, 5], "robot_descript": [3, 5, 10, 19, 28], "robot_param_nod": [3, 5], "robot_state_publish": [3, 5, 42], "config": [3, 5, 17], "cartpole_control": [3, 5], "yaml": [3, 4, 5, 6, 8, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 45], "locat": [3, 8, 28, 32], "server": [3, 40, 45], "node": [3, 4, 5, 10, 12, 14, 16, 19, 22, 23, 24, 25, 26, 27, 28, 29, 30, 36], "attempt": [3, 5, 10, 45], "get": [3, 5, 7, 8, 9, 10, 12, 15, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 44, 46, 56], "most": [3, 5, 6, 15, 17, 28, 36], "least": [3, 5, 13, 15, 36, 45], "jointstateinterfac": [3, 5], "effortjointinterfac": [3, 5], "velocityjointinterfac": [3, 5], "complex": [3, 4, 5, 6, 7, 8, 9], "mechan": [3, 5, 9, 45], "nonlinear": [3, 5], "spring": [3, 5], "linkag": [3, 5, 19, 21, 29], "etc": [3, 5, 10, 24, 28, 56], "These": [3, 5, 17, 28], "inherit": [3, 5, 10, 28], "gazebosysteminterfac": 3, "level": [3, 5, 6, 7, 10, 21, 22, 27, 37, 44, 47, 53], "properti": [3, 5, 28], "sub": [3, 5], "class": [3, 4, 5, 7, 10, 12, 15, 16, 28, 36, 39, 44], "specifi": [3, 5, 10, 15, 17, 28, 35, 36, 43, 44, 45, 46], "insid": [3, 5, 14, 17, 19], "publish": [3, 5, 6, 9, 13, 17, 20, 28, 32, 35, 38, 41, 42, 44, 48, 51, 56], "stateinterfac": [3, 5, 28], "topic": [3, 5, 6, 7, 9, 13, 19, 20, 21, 22, 23, 24, 25, 26, 27, 29, 30, 35, 45, 46, 54], "sensor_msg": [3, 5, 41, 48], "msg": [3, 5, 19, 20, 21, 22, 23, 24, 25, 26, 27, 29, 30, 32, 34, 37, 38, 39, 41, 44, 45, 46, 47, 48, 50, 53], "jointstat": [3, 5], "joint_state_control": [3, 5, 16], "ros__paramet": [3, 5, 37, 45, 47, 53], "jointstatecontrol": [3, 5, 16], "action": [3, 5, 9, 43], "cart_pole_control": [3, 5], "follow_joint_trajectori": [3, 5, 45], "followjointtrajectori": [3, 5, 43, 45], "joint_trajectory_control": [3, 5, 6, 16, 19, 35, 49], "write_op_mod": [3, 5], "contain": [3, 8, 17, 18, 19, 21, 22, 23, 24, 25, 26, 27, 28, 29, 32, 37, 43, 44, 46, 47, 50, 53], "content": [3, 15, 28, 36], "There": [3, 4, 5, 10, 12, 15, 17, 22, 25, 26, 27, 36, 44, 45], "meter": [3, 5, 28], "cart_example_veloc": [3, 5], "cart_example_effort": [3, 5], "diff_driv": 3, "tricycle_dr": 3, "world": [3, 5, 10, 14, 28], "example_veloc": [3, 5], "example_effort": [3, 5], "example_diff_dr": [3, 5], "example_tricycle_dr": [3, 5], "parallel": [3, 4, 5, 13, 14], "gripper_mimic_joint_exampl": [3, 5], "send": [3, 5, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 44, 45, 46], "example_gripp": [3, 5], "roll": [4, 8, 17, 28], "want": [4, 8, 9, 10, 17], "download": [4, 17], "mkdir": [4, 8, 17], "p": [4, 8, 10, 17, 43], "src": [4, 8, 15, 17, 19, 28, 30, 32, 36], "wget": 4, "raw": 4, "githubusercont": 4, "com": [4, 6, 8, 17, 28], "org": [4, 6, 31, 33, 52], "ros_control": [4, 6, 7, 56], "vc": [4, 8, 17], "import": [4, 8, 15, 17, 28, 36, 43], "rosdep": [4, 17], "rosdistro": [4, 17], "sudo": [4, 8, 10, 17], "apt": [4, 8, 10, 17], "path": [4, 7, 17, 28, 45], "ignor": [4, 10, 17, 34, 43, 50, 51], "r": [4, 17, 29], "y": [4, 17, 23, 25, 26, 32, 38, 41], "everyth": [4, 15, 17, 19, 21, 22, 23, 24, 25, 26, 27, 29, 30, 36], "opt": [4, 8, 17, 19], "setup": [4, 8, 14, 15, 17, 19, 23, 28, 30, 36, 44, 46], "sh": [4, 17, 19, 30], "colcon": [4, 8, 15, 17, 28, 36], "symlink": [4, 8, 17, 28], "folder": [4, 7, 15, 17, 19, 20, 23, 31, 32, 33, 36, 50, 52], "found": [4, 10, 11, 15, 19, 20, 23, 32, 34, 36, 39, 45, 56], "github": [4, 6, 8, 11, 17, 28, 35, 54, 55, 56], "figur": [4, 44], "uml": 4, "diagram": [4, 16], "intern": [4, 6, 9, 13, 15, 19, 21, 22, 23, 24, 25, 26, 27, 29, 32, 44, 45], "cm": [4, 10], "abstract": [4, 7, 12, 28], "side": [4, 6, 7], "entri": [4, 36], "point": [4, 28, 36, 43, 44, 45, 46, 56], "servic": [4, 6, 10, 12, 28, 35], "executor": [4, 10], "custom": [4, 13, 14, 17, 22, 23, 38, 42, 54], "howev": [4, 6, 9, 10, 17, 21, 28], "recommend": [4, 7, 8, 15, 46], "ros2_control_nod": [4, 24, 28], "controller_manag": [4, 5, 6, 10, 16, 24, 35, 36, 37, 45, 47, 53], "assum": [4, 9], "On": [4, 7, 8, 28], "hand": [4, 28, 55], "unload": [4, 10, 16], "match": [4, 17, 44], "report": [4, 6, 42, 56], "error": [4, 6, 10, 15, 21, 24, 28, 36, 42, 43, 45, 46], "execut": [4, 15, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 33, 36, 40, 43, 44, 45, 52], "loop": [4, 7, 10, 14, 19, 24, 25, 26, 27, 28, 29, 30, 36, 42, 43, 45, 50], "output": [4, 6, 7, 13, 16, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 32, 38], "driver": [4, 7, 17, 28, 55], "reus": [4, 7, 9], "flexibl": 4, "motor": [4, 9, 55], "encod": [4, 28], "theori": [4, 56], "compar": [4, 6, 7], "refer": [4, 9, 21, 28, 55], "measur": [4, 14, 22, 32, 38, 42, 43, 55], "calcul": [4, 28, 32, 44, 50], "input": [4, 6, 7, 8, 9, 13, 20, 21, 28, 32, 34, 37, 39, 43, 44, 47, 50, 51, 53], "object": [4, 28], "deriv": [4, 43, 44, 46], "controller_interfac": [4, 16, 28, 32, 36, 38, 41, 48], "export": [4, 9, 10, 15, 17, 28, 32, 36], "plugin": [4, 8, 10, 12, 13, 15, 16, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 29, 30, 32, 36, 46, 49], "forwardcommandcontrol": [4, 19, 20, 21, 22, 24, 25, 26, 27, 29, 30], "lifecyclenod": 4, "document": [4, 6, 7, 13, 14, 15, 17, 23, 34, 35, 44, 45], "interact": [4, 7, 10, 16, 20, 28, 30], "srv": [4, 45, 46], "controller_manager_msg": 4, "while": [4, 6, 7, 28, 44], "directli": [4, 19, 21, 30, 46, 56], "line": [4, 11, 12, 15, 19, 28, 36, 42, 44], "friendli": 4, "cli": [4, 10, 11, 16, 19, 20, 23, 24, 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[5, "set-up-controllers"]], "gazebo_ros2_control_demos": [[3, "gazebo-ros2-control-demos"]], "Getting Started": [[4, "getting-started"]], "Installation": [[4, "installation"], [17, "installation"]], "Binary packages": [[4, "binary-packages"]], "Building from Source": [[4, "building-from-source"]], "Architecture": [[4, "architecture"]], "Controller Manager": [[4, "controller-manager"], [10, "controller-manager"]], "Resource Manager": [[4, "resource-manager"]], "Controllers": [[4, "controllers"]], "User Interfaces": [[4, "user-interfaces"]], "Hardware Components": [[4, "hardware-components"], [12, "hardware-components"]], "Hardware Description in URDF": [[4, "hardware-description-in-urdf"]], "Running the Framework for Your Robot": [[4, "running-the-framework-for-your-robot"]], "gz_ros2_control": [[5, "gz-ros2-control"]], "Add the gz_ros2_control plugin": [[5, "add-the-gz-ros2-control-plugin"]], "Default gz_ros2_control Behavior": [[5, "default-gz-ros2-control-behavior"]], "Advanced: custom gz_ros2_control Simulation Plugins": [[5, "advanced-custom-gz-ros2-control-simulation-plugins"]], "gz_ros2_control_demos": [[5, "gz-ros2-control-demos"]], "Project Ideas for GSoC 2024": [[6, "project-ideas-for-gsoc-2024"]], "Tutorials and Demos for ros2_control": [[6, "tutorials-and-demos-for-ros2-control"]], "Mission-Control for ros2_control": [[6, "mission-control-for-ros2-control"]], "Add support for hardware semantic components": [[6, "add-support-for-hardware-semantic-components"]], "Feature-parity for controllers from ROS1": [[6, "feature-parity-for-controllers-from-ros1"]], "Resources": [[7, "resources"]], "Presentations": [[7, "presentations"]], "2023-10-18 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"], [14, "parameters"], [31, "parameters"], [32, "parameters"], [33, "parameters"], [34, "parameters"], [37, "parameters"], [38, "parameters"], [39, "parameters"], [40, "parameters"], [41, "parameters"], [42, "parameters"], [46, "parameters"], [47, "parameters"], [48, "parameters"], [50, "parameters"], [52, "parameters"], [53, "parameters"]], "Helper scripts": [[10, "helper-scripts"]], "spawner": [[10, "spawner"]], "unspawner": [[10, "unspawner"]], "Using the Controller Manager in a Process": [[10, "using-the-controller-manager-in-a-process"]], "Concepts": [[10, "concepts"], [11, "concepts"]], "Restarting all controllers": [[10, "restarting-all-controllers"]], "Restarting hardware": [[10, "restarting-hardware"]], "ros2_control": [[11, "ros2-control"]], "API Documentation": [[11, "api-documentation"]], "Features": [[11, "features"]], "Guidelines and Best Practices": [[12, "guidelines-and-best-practices"], [35, "guidelines-and-best-practices"]], "Handling of errors that happen during read() and write() calls": [[12, "handling-of-errors-that-happen-during-read-and-write-calls"]], "Migration from Foxy to newer versions": [[12, "migration-from-foxy-to-newer-versions"]], "ros2_control hardware interface types": [[13, "ros2-control-hardware-interface-types"]], "Joints": [[13, "joints"]], "Sensors": [[13, "sensors"]], "GPIOs": [[13, "gpios"]], "Examples": [[13, "examples"], [17, "examples"]], "Mock Components": [[14, "mock-components"]], "Generic System": [[14, "generic-system"]], "Per-joint Parameters": [[14, "per-joint-parameters"]], "Writing a Hardware Component": [[15, "writing-a-hardware-component"]], "Useful External References": [[15, "useful-external-references"], [36, "useful-external-references"]], "Command Line Interface": [[16, "command-line-interface"]], "list_controllers": [[16, "list-controllers"]], "list_controller_types": [[16, "list-controller-types"]], "list_hardware_components": [[16, "list-hardware-components"]], "list_hardware_interfaces": [[16, "list-hardware-interfaces"]], "load_controller": [[16, "load-controller"]], "reload_controller_libraries": [[16, "reload-controller-libraries"]], "set_controller_state": [[16, "set-controller-state"]], "switch_controllers": [[16, "switch-controllers"]], "unload_controller": [[16, "unload-controller"]], "view_controller_chains": [[16, "view-controller-chains"]], "Demos": [[17, "demos"]], "What you can find in this repository": [[17, "what-you-can-find-in-this-repository"]], "Goals": [[17, "goals"]], "Examples Overview": [[17, "examples-overview"]], "Local installation": [[17, "local-installation"]], "Build from debian packages": [[17, "build-from-debian-packages"]], "Build from source": [[17, "build-from-source"]], "Using Docker": [[17, "using-docker"]], "To view the robot": [[17, "to-view-the-robot"]], "To run the ros2_control demos": [[17, "to-run-the-ros2-control-demos"]], "Quick Hints": [[17, "quick-hints"]], "Example 1: RRBot": [[19, "example-1-rrbot"]], "Tutorial steps": [[19, "tutorial-steps"], [21, "tutorial-steps"], [22, "tutorial-steps"], [23, "tutorial-steps"], [24, "tutorial-steps"], [25, "tutorial-steps"], [26, "tutorial-steps"], [27, "tutorial-steps"], [29, "tutorial-steps"], [30, "tutorial-steps"]], "Files used for this demos": [[19, "files-used-for-this-demos"], [20, "files-used-for-this-demos"], [21, "files-used-for-this-demos"], [22, "files-used-for-this-demos"], [23, "files-used-for-this-demos"], [24, "files-used-for-this-demos"], [26, "files-used-for-this-demos"], [27, "files-used-for-this-demos"], [29, "files-used-for-this-demos"], [30, "files-used-for-this-demos"]], "Controllers from this demo": [[19, "controllers-from-this-demo"], [20, "controllers-from-this-demo"], [21, "controllers-from-this-demo"], [22, "controllers-from-this-demo"], [23, "controllers-from-this-demo"], [24, "controllers-from-this-demo"], [25, "controllers-from-this-demo"], [26, "controllers-from-this-demo"], [27, "controllers-from-this-demo"], [29, "controllers-from-this-demo"], [30, "controllers-from-this-demo"]], "Example 10: Industrial robot with GPIO interfaces": [[20, "example-10-industrial-robot-with-gpio-interfaces"]], "Example 12: Controller chaining with RRBot": [[21, "example-12-controller-chaining-with-rrbot"]], "Example 14: Modular robot with actuators not providing states": [[22, "example-14-modular-robot-with-actuators-not-providing-states"]], "DiffBot": [[23, "diffbot"]], "Example 3: Robots with multiple interfaces": [[24, "example-3-robots-with-multiple-interfaces"]], "Example 4: Industrial robot with integrated sensor": [[25, "example-4-industrial-robot-with-integrated-sensor"]], "Files used for this demo": [[25, "files-used-for-this-demo"]], "Example 5: Industrial robot with externally connected sensor": [[26, "example-5-industrial-robot-with-externally-connected-sensor"]], "Example 6: Modular Robots with separate communication to each actuator": [[27, "example-6-modular-robots-with-separate-communication-to-each-actuator"]], "Example 7: Full tutorial with a 6DOF robot": [[28, "example-7-full-tutorial-with-a-6dof-robot"]], "ros2_control overview": [[28, "ros2-control-overview"]], "Writing a URDF": [[28, "writing-a-urdf"]], "Geometry": [[28, "geometry"]], "URDF file": [[28, "urdf-file"]], "Writing a hardware interface": [[28, "writing-a-hardware-interface"]], "Plugin description file (hardware)": [[28, "plugin-description-file-hardware"]], "CMake library (hardware)": [[28, "cmake-library-hardware"]], "Writing a controller": [[28, "writing-a-controller"]], "Plugin description file (controller)": [[28, "plugin-description-file-controller"]], "CMake library (controller)": [[28, "cmake-library-controller"]], "Launching the example": [[28, "launching-the-example"]], "Example 8: Industrial Robots with an exposed transmission interface": [[29, "example-8-industrial-robots-with-an-exposed-transmission-interface"]], "Example 9: Simulation with RRBot": [[30, "example-9-simulation-with-rrbot"]], "ackermann_steering_controller": [[31, "ackermann-steering-controller"]], "Admittance Controller": [[32, "admittance-controller"]], "ROS 2 interface of the controller": [[32, "ros-2-interface-of-the-controller"], [37, "ros-2-interface-of-the-controller"], [39, "ros-2-interface-of-the-controller"], [47, "ros-2-interface-of-the-controller"], [53, "ros-2-interface-of-the-controller"]], "Topics": [[32, "topics"], [37, "topics"], [39, "topics"], [47, "topics"], [53, "topics"]], "ros2_control interfaces": [[32, "ros2-control-interfaces"]], "References": [[32, "references"], [34, "references"], [45, "references"]], "States": [[32, "states"], [45, "states"], [46, "states"], [50, "states"]], "Commands": [[32, "commands"], [42, "commands"], [45, "commands"], [46, "commands"], [50, "commands"]], "bicycle_steering_controller": [[33, "bicycle-steering-controller"]], "diff_drive_controller": [[34, "diff-drive-controller"]], "Other features": [[34, "other-features"], [45, "other-features"], [51, "other-features"]], "Description of controller\u2019s interfaces": [[34, "description-of-controller-s-interfaces"], [45, "description-of-controller-s-interfaces"], [46, "description-of-controller-s-interfaces"], [50, "description-of-controller-s-interfaces"]], "Feedback": [[34, "feedback"]], "Output": [[34, "output"]], "ROS 2 Interfaces": [[34, "ros-2-interfaces"]], "Subscribers": [[34, "subscribers"], [46, "subscribers"], [50, "subscribers"]], "Publishers": [[34, "publishers"], [45, "publishers"], [46, "publishers"], [50, "publishers"]], "ros2_controllers": [[35, "ros2-controllers"]], "Controllers for Mobile Robots": [[35, "controllers-for-mobile-robots"]], "Controllers for Manipulators and Other Robots": [[35, "controllers-for-manipulators-and-other-robots"]], "Broadcasters": [[35, "broadcasters"]], "Common Controller Parameters": [[35, "common-controller-parameters"]], "Writing a new controller": [[36, "writing-a-new-controller"]], "effort_controllers": [[37, "effort-controllers"]], "effort_controllers/JointGroupEffortController": [[37, "effort-controllers-jointgroupeffortcontroller"]], "Force Torque Sensor Broadcaster": [[38, "force-torque-sensor-broadcaster"]], "forward_command_controller": [[39, "forward-command-controller"]], "Hardware interface type": [[39, "hardware-interface-type"], [42, "hardware-interface-type"]], "Gripper Action Controller": [[40, "gripper-action-controller"]], "IMU Sensor Broadcaster": [[41, "imu-sensor-broadcaster"]], "joint_state_broadcaster": [[42, "joint-state-broadcaster"]], "Details about parameters": [[43, "details-about-parameters"]], "Trajectory Representation": [[44, "trajectory-representation"]], "Interpolation Method none": [[44, "interpolation-method-none"]], "Interpolation Method spline": [[44, "interpolation-method-spline"]], "Visualized Examples": [[44, "visualized-examples"]], "Trajectory Replacement": [[44, "trajectory-replacement"]], "joint_trajectory_controller": [[45, "joint-trajectory-controller"]], "Hardware interface types": [[45, "hardware-interface-types"]], "Using Joint Trajectory Controller(s)": [[45, "using-joint-trajectory-controller-s"]], "Preemption policy 1": [[45, "preemption-policy"]], "Actions 1": [[45, "actions"]], "Subscriber 1": [[45, "subscriber"]], "Services": [[45, "services"], [46, "services"]], "Further information": [[45, "further-information"]], "PID Controller": [[46, "pid-controller"]], "Execution logic of the controller": [[46, "execution-logic-of-the-controller"], [50, "execution-logic-of-the-controller"]], "Using the controller": [[46, "using-the-controller"]], "References (from a preceding controller)": [[46, "references-from-a-preceding-controller"], [50, "references-from-a-preceding-controller"]], "position_controllers": [[47, "position-controllers"]], "position_controllers/JointGroupPositionController": [[47, "position-controllers-jointgrouppositioncontroller"]], "Range Sensor Broadcaster": [[48, "range-sensor-broadcaster"]], "rqt_joint_trajectory_controller": [[49, "rqt-joint-trajectory-controller"]], "steering_controllers_library": [[50, "steering-controllers-library"]], "tricycle_controller": [[51, "tricycle-controller"]], "Velocity commands": [[51, "velocity-commands"]], "tricycle_steering_controller": [[52, "tricycle-steering-controller"]], "velocity_controllers": [[53, "velocity-controllers"]], "velocity_controllers/JointGroupVelocityController": [[53, "velocity-controllers-jointgroupvelocitycontroller"]], "Simulator Integrations": [[54, "simulator-integrations"]], "Hosted by ros-controls": [[54, "hosted-by-ros-controls"]], "Community": [[54, "community"]], "Supported Robots": [[55, "supported-robots"]], "Welcome to the ros2_control documentation!": [[56, "welcome-to-the-ros2-control-documentation"]], "ros2_control Repositories": [[56, "ros2-control-repositories"]], "Development Organisation and Communication": [[56, "development-organisation-and-communication"]]}, "indexentries": {}})
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