| github_url: | https://github.com/ros-controls/ros2_controllers/blob/{REPOS_FILE_BRANCH}/doc/controllers_index.rst |
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Commonly used and generalized controllers for ros2_control framework that are ready to use with many robots, MoveIt2 and Nav2.
.. toctree:: :titlesonly: mobile_robot_kinematics.rst writing_new_controller.rst
.. toctree:: :titlesonly: Differential Drive Controller <../diff_drive_controller/doc/userdoc.rst> Mecanum Drive Controllers <../mecanum_drive_controller/doc/userdoc.rst> Omni Wheel Drive Controller <../omni_wheel_drive_controller/doc/userdoc.rst> Steering Controllers Library <../steering_controllers_library/doc/userdoc.rst> Tricycle Controller <../tricycle_controller/doc/userdoc.rst>
.. toctree:: :titlesonly: Admittance Controller <../admittance_controller/doc/userdoc.rst> Effort Controllers <../effort_controllers/doc/userdoc.rst> Forward Command Controller <../forward_command_controller/doc/userdoc.rst> Joint Trajectory Controller <../joint_trajectory_controller/doc/userdoc.rst> Parallel Gripper Controller <../parallel_gripper_controller/doc/userdoc.rst> PID Controller <../pid_controller/doc/userdoc.rst> Position Controllers <../position_controllers/doc/userdoc.rst> Velocity Controllers <../velocity_controllers/doc/userdoc.rst> Gpio Command Controller <../gpio_controllers/doc/userdoc.rst> Motion Primitive Controller <../motion_primitives_controllers/userdoc.rst>
Broadcasters are used to publish sensor data from hardware components to ROS topics. In the sense of ros2_control, broadcasters are still controllers using the same controller interface as the other controllers above.
.. toctree:: :titlesonly: Force Torque Sensor Broadcaster <../force_torque_sensor_broadcaster/doc/userdoc.rst> IMU Sensor Broadcaster <../imu_sensor_broadcaster/doc/userdoc.rst> Joint State Broadcaster <../joint_state_broadcaster/doc/userdoc.rst> Range Sensor Broadcaster <../range_sensor_broadcaster/doc/userdoc.rst> Pose Broadcaster <../pose_broadcaster/doc/userdoc.rst> GPS Sensor Broadcaster <../gps_sensor_broadcaster/doc/userdoc.rst> State Interfaces Broadcaster <../state_interfaces_broadcaster/doc/userdoc.rst> Battery State Broadcaster <../battery_state_broadcaster/doc/userdoc.rst>
Chainable controllers for filtering of state interfaces. They export the filtered values as state interfaces, which can be used by other controllers or broadcasters, and don't publish to ROS topics.
.. toctree:: :titlesonly: Chained Filter Controller <../chained_filter_controller/doc/userdoc.rst>
Every controller and broadcaster has a few common parameters. They are optional, but if needed they have to be set before onConfigure transition to inactive state, see lifecycle documents. Once the controllers are already loaded, this transition is done using the service configure_controller of the controller_manager.
update_rate: An unsigned integer parameter representing the rate at which every controller/broadcaster runs its update cycle. When unspecified, they run at the same frequency as the controller_manager.is_async: A boolean parameter that is needed to specify if the controller update needs to run asynchronously.