Namespace ZO.ROS.Controllers
Classes
ZOArmController
Controller for executing joint-space trajectories on a group of joints. Trajectories are specified as a set of waypoints to be reached at specific time instants, which the controller attempts to execute as well as the mechanism allows. Waypoints consist of positions, and optionally velocities and accelerations.
ZODifferentialDriveController
Overview:
Controller for differential drive wheel systems. Control is in the form of a velocity command, that is split then sent on the two wheels of a differential drive wheel base. Odometry is computed from the feedback from the hardware, and published.
Velocity commands:
The controller works with a velocity twist from which it extracts the x component of the linear velocity and the z component of the angular velocity. Velocities on other components are ignored.
Interfaces
ZOROSControllerInterface
Defines a standard interface to ROS controllers from the controller manager.