From 5e8510f637aacd93eab49d72602c87ff9a66eaa7 Mon Sep 17 00:00:00 2001 From: bmagyar Date: Sun, 7 Apr 2024 05:32:23 +0000 Subject: [PATCH] deploy: 55de5eab39b383bd6e83d5d3a11943086b1101d8 --- foxy/.buildinfo | 2 +- .../acknowledgements/acknowledgements.doctree | Bin 7434 -> 7434 bytes .../doc/contributing/contributing.doctree | Bin 24361 -> 24361 bytes .../differences_to_ros1.doctree | Bin 34748 -> 34748 bytes .../getting_started/getting_started.doctree | Bin 50559 -> 50559 bytes foxy/.doctrees/doc/project_ideas.doctree | Bin 38260 -> 38260 bytes .../.doctrees/doc/resources/resources.doctree | Bin 67145 -> 67145 bytes .../controller_manager/doc/userdoc.doctree | Bin 9211 -> 9211 bytes .../doc/ros2_control/doc/index.doctree | Bin 5962 -> 5962 bytes .../doc/fake_components_userdoc.doctree | Bin 13533 -> 13533 bytes .../ros2controlcli/doc/userdoc.doctree | Bin 24766 -> 24766 bytes .../doc/ros2_control_demos/doc/index.doctree | Bin 12763 -> 12763 bytes 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.../doc/userdoc.doctree | Bin 10475 -> 10475 bytes .../velocity_controllers/doc/userdoc.doctree | Bin 8292 -> 8292 bytes .../doc/simulators/simulators.doctree | Bin 7042 -> 7042 bytes .../supported_robots/supported_robots.doctree | Bin 23621 -> 23621 bytes master/.doctrees/environment.pickle | Bin 3697930 -> 3697948 bytes master/.doctrees/index.doctree | Bin 27539 -> 27539 bytes .../acknowledgements/acknowledgements.html | 50 +++++++++--------- master/index.html | 2 +- master/searchindex.js | 2 +- 248 files changed, 90 insertions(+), 90 deletions(-) diff --git a/foxy/.buildinfo b/foxy/.buildinfo index 6c2972de88e..dfc9c521e9f 100644 --- a/foxy/.buildinfo +++ b/foxy/.buildinfo @@ -1,4 +1,4 @@ # Sphinx build info version 1 # This file hashes the configuration used when building these files. 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Built on 2024-04-06 at 05:31 GMT

+

Built on 2024-04-07 at 05:31 GMT

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"Differences to ros_control (ROS1)": [[2, "differences-to-ros-control-ros1"]], "Hardware Structures - classes": [[2, "hardware-structures-classes"]], "Hardware Interfaces": [[2, "hardware-interfaces"]], "Controller\u2019s Access to Hardware": [[2, "controller-s-access-to-hardware"]], "Migration Guide to ros2_control": [[2, "migration-guide-to-ros2-control"]], "RobotHardware to Components": [[2, "robothardware-to-components"]], "Controller Migration": [[2, "controller-migration"]], "Getting Started": [[3, "getting-started"]], "Compiling": [[3, "compiling"]], "Architecture": [[3, "architecture"]], "Controller Manager": [[3, "controller-manager"], [6, "controller-manager"]], "Resource Manager": [[3, "resource-manager"]], "Controllers": [[3, "controllers"], [12, "id1"]], "User Interfaces": [[3, "user-interfaces"]], "Hardware Components": [[3, "hardware-components"]], "Hardware Description in URDF": [[3, "hardware-description-in-urdf"]], "Running the Framework for Your Robot": [[3, 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"2021-06 ROSDevDay 2021": [[5, "rosdevday-2021"]], "2021-05 ROSCon Fr 2021": [[5, "roscon-fr-2021"]], "Diagrams": [[5, "diagrams"]], "Images": [[5, "images"]], "Helper scripts": [[6, "helper-scripts"]], "spawner.py": [[6, "spawner-py"]], "unspawner.py": [[6, "unspawner-py"]], "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"], [15, "parameters"], [17, "parameters"], [18, "parameters"]], "Per-joint Parameters": [[8, "per-joint-parameters"]], "Command Line Interface": [[9, "command-line-interface"]], "list_controllers": [[9, "list-controllers"]], "list_controller_types": [[9, "list-controller-types"]], "list_hardware_interfaces": [[9, "list-hardware-interfaces"]], "load_controller": [[9, "load-controller"]], "reload_controller_libraries": [[9, 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Controllers": [[12, "available-controllers"]], "Available Broadcasters": [[12, "available-broadcasters"]], "Writing a new controller": [[13, "writing-a-new-controller"]], "Useful External References": [[13, "useful-external-references"]], "effort_controllers": [[14, "effort-controllers"]], "Force Torque Sensor Broadcaster": [[15, "force-torque-sensor-broadcaster"]], "forward_command_controller": [[16, "forward-command-controller"]], "IMU Sensor Broadcaster": [[17, "imu-sensor-broadcaster"]], "joint_state_broadcaster": [[18, "joint-state-broadcaster"]], "Commands": [[18, "commands"]], "joint_state_controller": [[19, "joint-state-controller"]], "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, 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Development Organisation and Communication -

Built on 2024-04-06 at 05:31 GMT

+

Built on 2024-04-07 at 05:31 GMT

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Built on 2024-04-06 at 05:31 GMT

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Built on 2024-04-07 at 05:31 GMT

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41, 42, 43, 44, 45, 48, 50, 52], "ping": 1, "them": [1, 6, 8, 9, 15, 18, 19, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 37, 43, 45, 55], "necessari": [1, 8, 12], "repeatedli": 1, "sphinx": 1, "doc": [1, 8, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 30, 31, 56], "theme": 1, "gener": [1, 6, 7, 13, 15, 16, 21, 23, 24, 25, 26, 27, 28, 29, 36, 37, 46, 50, 56], "locat": [1, 3, 29, 33, 35, 39, 41, 42, 43, 44, 48], "control": [1, 7, 10, 11, 12, 13, 14, 15, 16, 17, 32, 34, 39, 42, 43, 44, 45, 48, 51, 52, 55, 56], "org": [1, 6, 11, 32, 34, 52], "while": [1, 4, 6, 7, 29, 33, 45], "packag": [1, 2, 3, 5, 12, 15, 29, 32, 33, 34, 35, 37, 38, 39, 42, 46, 47, 48, 50, 52, 53, 56], "written": [1, 15, 23, 28, 29, 37], "respect": [1, 3, 4, 5, 6, 7, 20, 44, 45, 46], "type": [1, 2, 3, 4, 5, 7, 8, 9, 10, 11, 12, 15, 16, 17, 20, 23, 24, 26, 27, 28, 29, 35, 36, 37, 38, 39, 42, 44, 47, 48, 50, 53], "stabl": [1, 4], "against": 1, "accept": [1, 15, 25, 37, 38, 44, 45, 46, 47, 53], "api": [1, 3, 5, 6, 15, 19, 21, 23, 24, 25, 26, 27, 28, 30], "abi": 1, "e": [1, 2, 4, 6, 7, 8, 9, 13, 14, 15, 17, 19, 20, 22, 23, 25, 26, 27, 28, 29, 30, 31, 33, 35, 37, 38, 39, 43, 44, 45, 47, 50, 53, 56], "name": [1, 2, 3, 4, 5, 7, 9, 11, 13, 14, 15, 16, 17, 19, 20, 22, 23, 24, 26, 27, 28, 29, 31, 33, 35, 37, 39, 40, 42, 43, 44, 48, 50], "convent": [1, 29], "master": [1, 4], "semi": 1, "binari": 1, "good": [1, 3, 5, 6, 35], "same": [1, 8, 11, 25, 29, 36, 39, 44, 45, 46], "build": [1, 15, 29, 33, 37], "dai": 1, "ros_distro": [1, 4, 17, 19], "foxi": [1, 7, 15], "galact": [1, 12, 15], "releas": [1, 4, 7, 17, 29], "version": [1, 4, 6, 11, 17, 46], "non": [1, 7, 22, 29, 39], "brake": 1, "distribut": [1, 4, 17, 56], "three": [1, 2, 4, 12, 13, 17, 29, 37, 45, 52], "stage": [1, 8, 22], "current": [1, 6, 11, 12, 13, 15, 16, 45, 46, 50], "futur": [1, 4, 7, 8, 45, 46], "compat": [1, 2, 4, 7, 15, 17], "direct": [1, 2, 6, 15, 29, 37, 44], "local": [1, 3, 5, 18, 19, 21, 22, 23, 24, 25, 26, 27, 28, 30, 31, 43], "possibl": [1, 4, 6, 9, 13, 17, 19, 21, 23, 24, 25, 26, 27, 28, 30, 33, 37, 45], "core": [1, 10, 29], "immedi": [1, 9, 19, 22, 23, 25, 26, 27, 28, 29, 30, 31], "depend": [1, 4, 12, 13, 15, 17, 18, 19, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 36, 37, 45, 50], "fail": [1, 25, 29], "expect": [1, 6, 22, 29, 32, 34, 35, 46, 50, 52], "after": [1, 8, 9, 15, 17, 19, 29, 35, 37, 44, 45, 46, 50, 51], "next": [1, 19, 29, 45], "sync": 1, "abl": 1, "potenti": [1, 37, 44], "mid": 1, "power": [1, 3, 5, 7, 15], "plausibl": 1, "analyt": 1, "robothw": 2, "rigid": 2, "ani": [2, 4, 7, 8, 9, 12, 13, 17, 22, 29, 37, 44, 46], "imposs": 2, "extend": [2, 4, 6, 8, 15, 37], "exist": [2, 4, 6, 8, 9, 12, 13, 15, 19, 21, 23, 24, 25, 26, 27, 28, 29, 30, 33, 37, 46], "addit": [2, 3, 5, 8, 17, 20, 24, 29], "sensor": [2, 4, 6, 12, 14, 15, 17, 23, 28, 29, 33, 36, 55], "actuat": [2, 4, 6, 12, 13, 14, 15, 17, 22], "tool": [2, 3, 5, 6, 7, 29, 33], "without": [2, 3, 4, 5, 7, 9, 14, 15, 17, 22, 31, 37, 44, 45], "combinedrobothardwar": 2, "drawback": [2, 56], "solut": [2, 7], "optim": [2, 9], "combin": [2, 8, 13, 14, 17, 25, 43, 45, 46], "extern": [2, 4, 6, 8, 14, 17, 33], "defin": [2, 3, 5, 6, 9, 14, 15, 17, 29, 33, 37, 39, 42, 43, 44, 45, 46, 48, 50], "system": [2, 3, 4, 5, 6, 7, 11, 12, 13, 15, 16, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 44, 46, 54, 55, 56], "composit": [2, 7], "basic": [2, 3, 4, 5, 6, 7, 15, 17, 24, 37], "physic": [2, 4, 12, 13, 14], "cell": [2, 39], "surround": 2, "describ": [2, 4, 8, 13, 17, 19, 25, 29, 31, 35, 45], "multi": [2, 4, 6, 7, 17, 25], "gripper": [2, 3, 4, 5, 7, 13, 14, 36], "out": [2, 3, 5, 9, 29, 35], "box": [2, 17, 19, 21, 24, 25, 26, 27, 30, 31], "detail": [2, 3, 4, 5, 9, 12, 13, 14, 15, 22, 29, 31, 32, 34, 35, 37, 45, 46, 52], "allow": [2, 3, 4, 5, 17, 29, 41, 44, 45, 46, 49], "joint": [2, 4, 7, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 40, 41, 43, 44, 45, 47, 50, 52, 53, 56], "posit": [2, 3, 4, 5, 7, 9, 13, 16, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 33, 35, 36, 38, 43, 44, 45, 46, 47, 50, 53], "veloc": [2, 3, 4, 5, 7, 8, 17, 21, 23, 24, 25, 29, 33, 34, 35, 36, 41, 42, 43, 44, 45, 46, 47, 50, 53], "effort": [2, 3, 5, 17, 29, 36, 38, 41, 43, 44, 46], "hard": [2, 9], "data": [2, 4, 6, 14, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 35, 36, 43, 45], "approach": [2, 8, 11], "doe": [2, 8, 9, 15, 19, 21, 23, 24, 25, 26, 27, 28, 29, 30, 37, 45, 46], "enforc": [2, 25, 29], "string": [2, 9, 14, 17, 33, 35, 37, 39, 40, 41, 42, 43, 44, 48, 50], "ensur": [2, 7, 9, 29, 45], "constant": [2, 17], "hardware_interfac": [2, 3, 4, 5, 11, 12, 14, 15, 17, 23, 26, 27, 28, 29, 33, 35, 36, 37], "In": [2, 3, 4, 5, 6, 7, 8, 11, 15, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 36, 37, 43, 45, 50], "had": 2, "itself": [2, 8], "took": 2, "care": [2, 6, 9, 15, 25, 37, 46], "regist": [2, 3, 5], "resourc": [2, 3, 5, 15, 25], "conflict": [2, 4, 6], "resourcemanag": [2, 8], "take": [2, 6, 8, 15, 22, 25, 35, 37, 43, 45], "state": [2, 3, 4, 5, 6, 7, 9, 11, 12, 13, 14, 15, 16, 17, 19, 20, 21, 22, 24, 25, 26, 27, 28, 29, 30, 31, 36, 37, 39, 43, 44], "avail": [2, 4, 7, 16, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 37, 43, 46], "enabl": [2, 4, 6, 7, 12, 15, 16, 17, 24, 33, 35, 39, 50], "anymor": 2, "controllermanag": [2, 9], "implement": [2, 3, 4, 5, 6, 7, 9, 11, 13, 14, 15, 17, 19, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 32, 33, 34, 35, 37, 40, 45, 46, 50, 51, 52, 56], "systeminterfac": [2, 3, 5, 11, 14, 26, 29], "granular": 2, "sensorinterfac": [2, 23, 27], "actuatorinterfac": [2, 23, 28], "abov": [2, 19, 20, 22, 23, 24, 25, 26, 27, 28, 30, 31, 36, 45], "choos": [2, 4, 17, 50], "suitabl": [2, 7], "strategi": [2, 17, 45], "decid": [2, 11], "which": [2, 3, 4, 5, 6, 7, 9, 11, 15, 16, 17, 19, 21, 24, 25, 26, 27, 28, 29, 30, 31, 33, 35, 37, 39, 42, 43, 44, 45, 46, 48, 50, 51], "case": [2, 3, 5, 6, 7, 8, 17, 22, 29, 35, 37, 43, 45, 46, 56], "mayb": [2, 8], "sens": [2, 4, 36, 39], "multipl": [2, 4, 7, 8, 13, 15, 17, 35, 43], "constructor": [2, 15, 29, 37], "initi": [2, 15, 20, 29, 37, 45], "variabl": [2, 11, 15, 29, 37, 44], "need": [2, 3, 4, 5, 6, 7, 8, 13, 15, 17, 19, 21, 23, 24, 25, 26, 27, 28, 29, 30, 33, 37, 45], "commun": [2, 4, 6, 7, 11, 15, 17, 19, 21, 23, 24, 25, 26, 27, 29, 30], "default": [2, 4, 8, 9, 14, 21, 25, 32, 33, 34, 35, 39, 40, 41, 42, 43, 44, 45, 46, 48, 50, 52], "configur": [2, 3, 4, 5, 6, 7, 8, 9, 12, 14, 16, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 37, 43, 44, 45, 46, 50], "paramet": [2, 3, 5, 7, 11, 15, 17, 19, 20, 24, 29, 36, 37, 46], "pars": [2, 3, 5, 9, 10, 13], "urdf": [2, 7, 9, 11, 13, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 30, 31, 33], "snippet": 2, "hardwareinfo": [2, 11, 29], "here": [2, 10, 15, 29, 37, 38, 46, 47, 53], "cross": [2, 43], "valu": [2, 4, 6, 11, 13, 14, 15, 17, 19, 20, 22, 24, 26, 27, 29, 31, 33, 35, 37, 39, 42, 43, 44, 46, 48, 50], "export_": 2, "_interfac": [2, 15], "joint_a2": 2, "extract": [2, 35, 51], "sensibl": 2, "start": [2, 3, 5, 7, 8, 9, 12, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 35, 37, 44, 45, 56], "stop": [2, 7, 8, 9, 12, 16, 19, 20, 24, 25, 29, 35, 44, 51], "usual": [2, 4, 9, 14, 15, 29, 33, 37], "includ": [2, 3, 5, 6, 12, 15, 16, 21, 29, 33, 37, 46, 55], "command": [2, 3, 4, 5, 6, 7, 9, 10, 13, 14, 15, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 34, 35, 36, 37, 38, 40, 41, 44, 45, 47, 49, 52, 53, 56], "safe": [2, 29, 35, 37, 46, 51], "interrupt": [2, 9], "stream": [2, 7], "write": [2, 4, 7, 8, 9, 10, 11, 20, 22, 23, 24, 28, 33, 36], "exchang": [2, 6, 19, 21, 23, 24, 25, 26, 27, 28, 30, 56], "equival": [2, 29], "forget": [2, 4, 17, 46], "pluginlib_export_class": [2, 15, 17, 29, 37], "macro": [2, 4, 11, 15, 17, 29, 37], "end": [2, 4, 12, 15, 29, 33, 37, 44], "cpp": [2, 15, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 37], "file": [2, 3, 4, 5, 6, 7, 9, 11, 14, 15, 17, 33, 35, 37, 38, 39, 46, 47, 53], "creat": [2, 3, 4, 5, 7, 9, 14, 15, 17, 21, 29, 37], "xml": [2, 3, 5, 11, 12, 15, 29, 37], "librari": [2, 4, 15, 16, 21, 32, 34, 36, 37, 50, 52], "pluginlib": [2, 3, 4, 5, 9, 15, 29, 37], "exampl": [2, 3, 4, 5, 6, 7, 8, 9, 14, 16, 21, 24, 33, 35, 38, 39, 46, 47, 53, 56], "rrbotsystempositiononlyhardwar": [2, 4, 13, 16, 19, 22, 27], "excel": 2, "jointtrajectorycontrol": [2, 3, 5, 16, 19, 33, 46], "real": [2, 6, 7, 9, 14, 20, 24, 37, 43, 44, 56], "critic": [2, 6], "mark": [2, 22], "controllerinterfac": [2, 4, 8, 16, 29, 37], "member": [2, 15, 29, 37, 45], "init": 2, "call": [2, 3, 4, 5, 8, 11, 15, 20, 24, 29, 37], "lifecycl": [2, 4, 7, 9, 12, 15, 29], "declar": [2, 11, 15, 29, 37], "state_interface_configur": [2, 29, 37], "command_interface_configur": [2, 29, 37], "design": [2, 4, 6, 7, 8, 21, 29, 56], "updat": [2, 4, 8, 9, 10, 12, 17, 21, 29, 33, 37, 46, 50], "manag": [2, 3, 5, 6, 7, 10, 12, 15, 16, 17, 29, 37, 46, 56], "option": [2, 3, 4, 5, 9, 12, 14, 15, 16, 19, 20, 25, 33, 35, 37, 39, 43, 46, 50], "on_configur": [2, 15, 29, 37], "on_activ": [2, 11, 12, 15, 29, 37], "on_deactiv": [2, 12, 15, 29, 37], "deactiv": [2, 4, 16, 19, 44], "final": [2, 7, 12, 29], "joint_trajectory_plugin": 2, "integr": [3, 4, 5, 6, 7, 14, 17, 22, 24, 29, 44, 45, 46, 56], "architectur": [3, 5, 6, 7], "gazebo": [3, 5, 6, 17, 19, 31, 54], "classic": [3, 17, 31, 54], "instanti": [3, 5, 9], "connect": [3, 4, 5, 14, 17, 26, 29], "model": [3, 5, 19, 21, 29], "cd": [3, 4, 5, 17, 29], "docker": [3, 5, 18, 19, 21, 22, 23, 24, 25, 26, 27, 28, 30, 31], "gui": [3, 5, 17, 19, 22, 23, 25, 26, 27, 28, 30, 31, 49], "properli": [3, 5, 8, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31], "rm": [3, 4, 5, 17, 19, 31], "net": [3, 5, 7, 17, 19, 31], "host": [3, 5, 17, 19, 31, 55], "ros2": [3, 4, 5, 7, 9, 15, 16, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 37], "launch": [3, 4, 5, 9, 14, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 30, 31], "cart_example_posit": [3, 5], "py": [3, 5, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31], "fals": [3, 5, 11, 14, 17, 19, 21, 31, 33, 35, 41, 43, 44, 46, 50], "machin": [3, 4, 5, 6, 17, 31], "client": [3, 5, 31, 46], "gzclient": [3, 31], "rocker": [3, 5], "go": [3, 5, 7, 9, 15, 29, 37], "imag": [3, 5, 9, 31], "inject": [3, 5, 7], "nvidia": [3, 5], "And": 3, "user": [3, 5, 6, 9, 17, 29, 45], "id": [3, 5, 16, 19, 20, 21, 23, 24, 25, 26, 27, 28, 30, 33, 35], "specif": [3, 5, 6, 8, 9, 11, 12, 13, 29, 31, 40, 43, 45, 46], "cleaner": [3, 5], "mount": [3, 5], "permiss": [3, 5, 9], "instal": [3, 5, 9, 15, 18, 19, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 37], "instruct": [3, 5, 24, 29, 31], "x11": [3, 5], "latest": [3, 4, 5], "move": [3, 5, 17, 19, 21, 22, 23, 24, 25, 26, 27, 28, 30, 31, 35, 41], "cart": [3, 5], "rail": [3, 5], "exec": [3, 5, 19], "bash": [3, 4, 5, 15, 17, 19, 29, 37], "home": [3, 5], "ros2_w": [3, 4, 5, 17], "example_posit": [3, 5], "element": [3, 5, 29, 33, 44], "access": [3, 4, 5, 7, 9, 14, 19, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 37, 43], "interfac": [3, 5, 6, 7, 8, 9, 10, 12, 14, 15, 17, 19, 21, 22, 23, 24, 26, 27, 28, 31, 32, 34, 36, 37, 39, 42, 44, 45, 48, 52, 54, 55, 56], "gazebosystem": 3, "hardwar": [3, 5, 7, 8, 10, 14, 16, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 30, 31, 35, 36, 37, 44, 51, 56], "slider_to_cart": [3, 5, 38, 47, 53], "command_interfac": [3, 4, 5, 13, 20, 22, 29, 33, 44, 46], "param": [3, 4, 5, 9, 11, 13, 14, 20, 24, 29], "min": [3, 4, 5, 13, 29], "1000": [3, 5, 29], "state_interfac": [3, 4, 5, 13, 20, 29, 33, 44, 46], "initial_valu": [3, 5, 20, 29], "mimick": [3, 5, 14], "manual": [3, 4, 5, 6, 9, 15, 17, 19, 25, 26, 27, 28, 30, 31, 37, 56], "multipli": [3, 5, 14], "definit": [3, 4, 5, 9, 15, 29, 33, 35, 36, 37, 39, 41, 42, 43, 44, 48], "left_finger_joint": [3, 5], "prismat": [3, 5], "right_finger_joint": [3, 5], "axi": [3, 5, 6, 29, 32, 34, 35, 39, 52], "xyz": [3, 5, 29], "rpy": [3, 5, 29], "1415926535": [3, 5], "parent": [3, 5, 15, 29, 35, 37], "link": [3, 4, 5, 7, 8, 12, 29, 33, 35, 36], "base": [3, 4, 5, 7, 12, 15, 16, 17, 21, 23, 24, 28, 29, 33, 35, 37, 40, 50, 51, 54, 55], "child": [3, 5, 13, 29, 35], "finger_left": [3, 5], "lower": [3, 5, 29], "upper": [3, 5, 29], "actual": [3, 5, 8, 35], "load": [3, 4, 5, 9, 15, 16, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 33, 37], "appropri": [3, 5, 6, 45], "By": [3, 5, 9, 21, 29, 43, 45], "though": [3, 5, 21, 22], "extens": [3, 5], "via": [3, 4, 5, 17, 19, 26, 27, 29, 31, 46, 55], "between": [3, 4, 5, 6, 12, 13, 17, 29, 32, 34, 35, 43, 44, 45, 46, 52], "filenam": [3, 5, 29], "libgazebo_ros2_control": 3, "so": [3, 4, 5, 8, 9, 15, 29, 33, 37, 46], "robot_param": [3, 5], "robot_descript": [3, 5, 9, 19, 29, 33], "robot_param_nod": [3, 5], "robot_state_publish": [3, 5, 21, 43], "config": [3, 5, 17], "cart_control": [3, 5], "yaml": [3, 4, 5, 6, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 46], "server": [3, 41, 46], "node": [3, 4, 5, 9, 11, 12, 14, 16, 19, 21, 23, 24, 25, 26, 27, 28, 29, 30, 31, 37], "attempt": [3, 5, 9, 46], "get": [3, 5, 7, 8, 9, 11, 12, 15, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 45, 56], "most": [3, 5, 6, 15, 17, 21, 29, 37], "least": [3, 5, 13, 15, 37, 46], "jointstateinterfac": [3, 5], "effortjointinterfac": [3, 5], "velocityjointinterfac": [3, 5], "complex": [3, 4, 5, 6, 7, 8], "mechan": [3, 5, 8, 46], "nonlinear": [3, 5], "spring": [3, 5], "linkag": [3, 5, 19, 22, 30], "etc": [3, 5, 9, 25, 29, 33, 56], "These": [3, 4, 5, 17, 29, 35, 41], "inherit": [3, 5, 9, 29], "gazebosysteminterfac": 3, "level": [3, 5, 6, 7, 9, 22, 23, 28, 38, 45, 47, 53], "properti": [3, 5, 29], "sub": [3, 5, 21], "class": [3, 4, 5, 7, 9, 12, 15, 16, 29, 37, 40, 45], "specifi": [3, 5, 9, 15, 17, 29, 33, 37, 44, 45, 46], "For": [3, 4, 5, 6, 7, 8, 9, 12, 14, 15, 17, 18, 19, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 37, 44, 46, 50, 52], "insid": [3, 5, 14, 17, 19], "joint_state_broadcast": [3, 5, 13, 16, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 30, 31], "publish": [3, 5, 6, 8, 13, 17, 20, 21, 29, 33, 36, 39, 42, 43, 44, 45, 48, 51, 56], "stateinterfac": [3, 5, 29], "topic": [3, 5, 6, 7, 8, 13, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 30, 31, 35, 36, 46, 54], "sensor_msg": [3, 5, 42, 48], "msg": [3, 5, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 30, 31, 33, 35, 38, 39, 40, 42, 45, 46, 47, 48, 50, 53], "jointstat": [3, 5], "joint_trajectory_control": [3, 5, 6, 16, 19, 36, 44, 49], "follow_joint_trajectori": [3, 5, 46], "control_msg": [3, 5, 33, 44, 46, 50, 56], "followjointtrajectori": [3, 5, 44, 46], "controller_manag": [3, 4, 5, 6, 9, 16, 25, 37, 38, 46, 47, 53], "ros__paramet": [3, 5, 33, 35, 38, 39, 41, 42, 43, 44, 46, 47, 48, 53], "update_r": [3, 5, 9, 38, 47, 53], "100": [3, 4, 5, 11, 13, 38, 47, 53], "hz": [3, 5, 35, 38, 41, 47, 53], "jointstatebroadcast": [3, 5, 16, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 30, 31], "contain": [3, 17, 18, 19, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 33, 35, 38, 39, 41, 42, 43, 44, 45, 47, 48, 50, 53], 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2, 3, 5, 12, 15, 29, 32, 33, 34, 35, 37, 38, 39, 42, 46, 47, 48, 50, 52, 53, 56], "written": [1, 15, 23, 28, 29, 37], "respect": [1, 3, 4, 5, 6, 7, 20, 44, 45, 46], "type": [1, 2, 3, 4, 5, 7, 8, 9, 10, 11, 12, 15, 16, 17, 20, 23, 24, 26, 27, 28, 29, 35, 36, 37, 38, 39, 42, 44, 47, 48, 50, 53], "stabl": [1, 4], "against": 1, "accept": [1, 15, 25, 37, 38, 44, 45, 46, 47, 53], "api": [1, 3, 5, 6, 15, 19, 21, 23, 24, 25, 26, 27, 28, 30], "abi": 1, "e": [1, 2, 4, 6, 7, 8, 9, 13, 14, 15, 17, 19, 20, 22, 23, 25, 26, 27, 28, 29, 30, 31, 33, 35, 37, 38, 39, 43, 44, 45, 47, 50, 53, 56], "name": [1, 2, 3, 4, 5, 7, 9, 11, 13, 14, 15, 16, 17, 19, 20, 22, 23, 24, 26, 27, 28, 29, 31, 33, 35, 37, 39, 40, 42, 43, 44, 48, 50], "convent": [1, 29], "master": [1, 4], "semi": 1, "binari": 1, "good": [1, 3, 5, 6, 35], "same": [1, 8, 11, 25, 29, 36, 39, 44, 45, 46], "build": [1, 15, 29, 33, 37], "dai": 1, "ros_distro": [1, 4, 17, 19], "foxi": [1, 7, 15], "galact": [1, 12, 15], "releas": [1, 4, 7, 17, 29], "version": [1, 4, 6, 11, 17, 46], "non": [1, 7, 22, 29, 39], "brake": 1, "distribut": [1, 4, 17, 56], "three": [1, 2, 4, 12, 13, 17, 29, 37, 45, 52], "stage": [1, 8, 22], "current": [1, 6, 11, 12, 13, 15, 16, 45, 46, 50], "futur": [1, 4, 7, 8, 45, 46], "compat": [1, 2, 4, 7, 15, 17], "direct": [1, 2, 6, 15, 29, 37, 44], "local": [1, 3, 5, 18, 19, 21, 22, 23, 24, 25, 26, 27, 28, 30, 31, 43], "possibl": [1, 4, 6, 9, 13, 17, 19, 21, 23, 24, 25, 26, 27, 28, 30, 33, 37, 45], "core": [1, 10, 29], "immedi": [1, 9, 19, 22, 23, 25, 26, 27, 28, 29, 30, 31], "depend": [1, 4, 12, 13, 15, 17, 18, 19, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 36, 37, 45, 50], "fail": [1, 25, 29], "expect": [1, 6, 22, 29, 32, 34, 35, 46, 50, 52], "after": [1, 8, 9, 15, 17, 19, 29, 35, 37, 44, 45, 46, 50, 51], "next": [1, 19, 29, 45], "sync": 1, "abl": 1, "potenti": [1, 37, 44], "mid": 1, "power": [1, 3, 5, 7, 15], "plausibl": 1, "analyt": 1, "robothw": 2, "rigid": 2, "ani": [2, 4, 7, 8, 9, 12, 13, 17, 22, 29, 37, 44, 46], "imposs": 2, "extend": [2, 4, 6, 8, 15, 37], "exist": [2, 4, 6, 8, 9, 12, 13, 15, 19, 21, 23, 24, 25, 26, 27, 28, 29, 30, 33, 37, 46], "addit": [2, 3, 5, 8, 17, 20, 24, 29], "sensor": [2, 4, 6, 12, 14, 15, 17, 23, 28, 29, 33, 36, 55], "actuat": [2, 4, 6, 12, 13, 14, 15, 17, 22], "tool": [2, 3, 5, 6, 7, 29, 33], "without": [2, 3, 4, 5, 7, 9, 14, 15, 17, 22, 31, 37, 44, 45], "combinedrobothardwar": 2, "drawback": [2, 56], "solut": [2, 7], "optim": [2, 9], "combin": [2, 8, 13, 14, 17, 25, 43, 45, 46], "extern": [2, 4, 6, 8, 14, 17, 33], "defin": [2, 3, 5, 6, 9, 14, 15, 17, 29, 33, 37, 39, 42, 43, 44, 45, 46, 48, 50], "system": [2, 3, 4, 5, 6, 7, 11, 12, 13, 15, 16, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 44, 46, 54, 55, 56], "composit": [2, 7], "basic": [2, 3, 4, 5, 6, 7, 15, 17, 24, 37], "physic": [2, 4, 12, 13, 14], "cell": [2, 39], "surround": 2, "describ": [2, 4, 8, 13, 17, 19, 25, 29, 31, 35, 45], "multi": [2, 4, 6, 7, 17, 25], "gripper": [2, 3, 4, 5, 7, 13, 14, 36], "out": [2, 3, 5, 9, 29, 35], "box": [2, 17, 19, 21, 24, 25, 26, 27, 30, 31], "detail": [2, 3, 4, 5, 9, 12, 13, 14, 15, 22, 29, 31, 32, 34, 35, 37, 45, 46, 52], "allow": [2, 3, 4, 5, 17, 29, 41, 44, 45, 46, 49], "joint": [2, 4, 7, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 40, 41, 43, 44, 45, 47, 50, 52, 53, 56], "posit": [2, 3, 4, 5, 7, 9, 13, 16, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 33, 35, 36, 38, 43, 44, 45, 46, 47, 50, 53], "veloc": [2, 3, 4, 5, 7, 8, 17, 21, 23, 24, 25, 29, 33, 34, 35, 36, 41, 42, 43, 44, 45, 46, 47, 50, 53], "effort": [2, 3, 5, 17, 29, 36, 38, 41, 43, 44, 46], "hard": [2, 9], "data": [2, 4, 6, 14, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 35, 36, 43, 45], "approach": [2, 8, 11], "doe": [2, 8, 9, 15, 19, 21, 23, 24, 25, 26, 27, 28, 29, 30, 37, 45, 46], "enforc": [2, 25, 29], "string": [2, 9, 14, 17, 33, 35, 37, 39, 40, 41, 42, 43, 44, 48, 50], "ensur": [2, 7, 9, 29, 45], "constant": [2, 17], "hardware_interfac": [2, 3, 4, 5, 11, 12, 14, 15, 17, 23, 26, 27, 28, 29, 33, 35, 36, 37], "In": [2, 3, 4, 5, 6, 7, 8, 11, 15, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 36, 37, 43, 45, 50], "had": 2, "itself": [2, 8], "took": 2, "care": [2, 6, 9, 15, 25, 37, 46], "regist": [2, 3, 5], "resourc": [2, 3, 5, 15, 25], "conflict": [2, 4, 6], "resourcemanag": [2, 8], "take": [2, 6, 8, 15, 22, 25, 35, 37, 43, 45], "state": [2, 3, 4, 5, 6, 7, 9, 11, 12, 13, 14, 15, 16, 17, 19, 20, 21, 22, 24, 25, 26, 27, 28, 29, 30, 31, 36, 37, 39, 43, 44], "avail": [2, 4, 7, 16, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 37, 43, 46], "enabl": [2, 4, 6, 7, 12, 15, 16, 17, 24, 33, 35, 39, 50], "anymor": 2, "controllermanag": [2, 9], "implement": [2, 3, 4, 5, 6, 7, 9, 11, 13, 14, 15, 17, 19, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 32, 33, 34, 35, 37, 40, 45, 46, 50, 51, 52, 56], "systeminterfac": [2, 3, 5, 11, 14, 26, 29], "granular": 2, "sensorinterfac": [2, 23, 27], "actuatorinterfac": [2, 23, 28], "abov": [2, 19, 20, 22, 23, 24, 25, 26, 27, 28, 30, 31, 36, 45], "choos": [2, 4, 17, 50], "suitabl": [2, 7], "strategi": [2, 17, 45], "decid": [2, 11], "which": [2, 3, 4, 5, 6, 7, 9, 11, 15, 16, 17, 19, 21, 24, 25, 26, 27, 28, 29, 30, 31, 33, 35, 37, 39, 42, 43, 44, 45, 46, 48, 50, 51], "case": [2, 3, 5, 6, 7, 8, 17, 22, 29, 35, 37, 43, 45, 46, 56], "mayb": [2, 8], "sens": [2, 4, 36, 39], "multipl": [2, 4, 7, 8, 13, 15, 17, 35, 43], "constructor": [2, 15, 29, 37], "initi": [2, 15, 20, 29, 37, 45], "variabl": [2, 11, 15, 29, 37, 44], "need": [2, 3, 4, 5, 6, 7, 8, 13, 15, 17, 19, 21, 23, 24, 25, 26, 27, 28, 29, 30, 33, 37, 45], "commun": [2, 4, 6, 7, 11, 15, 17, 19, 21, 23, 24, 25, 26, 27, 29, 30], "default": [2, 4, 8, 9, 14, 21, 25, 32, 33, 34, 35, 39, 40, 41, 42, 43, 44, 45, 46, 48, 50, 52], "configur": [2, 3, 4, 5, 6, 7, 8, 9, 12, 14, 16, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 37, 43, 44, 45, 46, 50], "paramet": [2, 3, 5, 7, 11, 15, 17, 19, 20, 24, 29, 36, 37, 46], "pars": [2, 3, 5, 9, 10, 13], "urdf": [2, 7, 9, 11, 13, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 30, 31, 33], "snippet": 2, "hardwareinfo": [2, 11, 29], "here": [2, 10, 15, 29, 37, 38, 46, 47, 53], "cross": [2, 43], "valu": [2, 4, 6, 11, 13, 14, 15, 17, 19, 20, 22, 24, 26, 27, 29, 31, 33, 35, 37, 39, 42, 43, 44, 46, 48, 50], "export_": 2, "_interfac": [2, 15], "joint_a2": 2, "extract": [2, 35, 51], "sensibl": 2, "start": [2, 3, 5, 7, 8, 9, 12, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 35, 37, 44, 45, 56], "stop": [2, 7, 8, 9, 12, 16, 19, 20, 24, 25, 29, 35, 44, 51], "usual": [2, 4, 9, 14, 15, 29, 33, 37], "includ": [2, 3, 5, 6, 12, 15, 16, 21, 29, 33, 37, 46, 55], "command": [2, 3, 4, 5, 6, 7, 9, 10, 13, 14, 15, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 34, 35, 36, 37, 38, 40, 41, 44, 45, 47, 49, 52, 53, 56], "safe": [2, 29, 35, 37, 46, 51], "interrupt": [2, 9], "stream": [2, 7], "write": [2, 4, 7, 8, 9, 10, 11, 20, 22, 23, 24, 28, 33, 36], "exchang": [2, 6, 19, 21, 23, 24, 25, 26, 27, 28, 30, 56], "equival": [2, 29], "forget": [2, 4, 17, 46], "pluginlib_export_class": [2, 15, 17, 29, 37], "macro": [2, 4, 11, 15, 17, 29, 37], "end": [2, 4, 12, 15, 29, 33, 37, 44], "cpp": [2, 15, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 37], "file": [2, 3, 4, 5, 6, 7, 9, 11, 14, 15, 17, 33, 35, 37, 38, 39, 46, 47, 53], "creat": [2, 3, 4, 5, 7, 9, 14, 15, 17, 21, 29, 37], "xml": [2, 3, 5, 11, 12, 15, 29, 37], "librari": [2, 4, 15, 16, 21, 32, 34, 36, 37, 50, 52], "pluginlib": [2, 3, 4, 5, 9, 15, 29, 37], "exampl": [2, 3, 4, 5, 6, 7, 8, 9, 14, 16, 21, 24, 33, 35, 38, 39, 46, 47, 53, 56], "rrbotsystempositiononlyhardwar": [2, 4, 13, 16, 19, 22, 27], "excel": 2, "jointtrajectorycontrol": [2, 3, 5, 16, 19, 33, 46], "real": [2, 6, 7, 9, 14, 20, 24, 37, 43, 44, 56], "critic": [2, 6], "mark": [2, 22], "controllerinterfac": [2, 4, 8, 16, 29, 37], "member": [2, 15, 29, 37, 45], "init": 2, "call": [2, 3, 4, 5, 8, 11, 15, 20, 24, 29, 37], "lifecycl": [2, 4, 7, 9, 12, 15, 29], "declar": [2, 11, 15, 29, 37], "state_interface_configur": [2, 29, 37], "command_interface_configur": [2, 29, 37], "design": [2, 4, 6, 7, 8, 21, 29, 56], "updat": [2, 4, 8, 9, 10, 12, 17, 21, 29, 33, 37, 46, 50], "manag": [2, 3, 5, 6, 7, 10, 12, 15, 16, 17, 29, 37, 46, 56], "option": [2, 3, 4, 5, 9, 12, 14, 15, 16, 19, 20, 25, 33, 35, 37, 39, 43, 46, 50], "on_configur": [2, 15, 29, 37], "on_activ": [2, 11, 12, 15, 29, 37], "on_deactiv": [2, 12, 15, 29, 37], "deactiv": [2, 4, 16, 19, 44], "final": [2, 7, 12, 29], "joint_trajectory_plugin": 2, "integr": [3, 4, 5, 6, 7, 14, 17, 22, 24, 29, 44, 45, 46, 56], "architectur": [3, 5, 6, 7], "gazebo": [3, 5, 6, 17, 19, 31, 54], "classic": [3, 17, 31, 54], "instanti": [3, 5, 9], "connect": [3, 4, 5, 14, 17, 26, 29], "model": [3, 5, 19, 21, 29], "cd": [3, 4, 5, 17, 29], "docker": [3, 5, 18, 19, 21, 22, 23, 24, 25, 26, 27, 28, 30, 31], "gui": [3, 5, 17, 19, 22, 23, 25, 26, 27, 28, 30, 31, 49], "properli": [3, 5, 8, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31], "rm": [3, 4, 5, 17, 19, 31], "net": [3, 5, 7, 17, 19, 31], "host": [3, 5, 17, 19, 31, 55], "ros2": [3, 4, 5, 7, 9, 15, 16, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 37], "launch": [3, 4, 5, 9, 14, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 30, 31], "cart_example_posit": [3, 5], "py": [3, 5, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31], "fals": [3, 5, 11, 14, 17, 19, 21, 31, 33, 35, 41, 43, 44, 46, 50], "machin": [3, 4, 5, 6, 17, 31], "client": [3, 5, 31, 46], "gzclient": [3, 31], "rocker": [3, 5], "go": [3, 5, 7, 9, 15, 29, 37], "imag": [3, 5, 9, 31], "inject": [3, 5, 7], "nvidia": [3, 5], "And": 3, "user": [3, 5, 6, 9, 17, 29, 45], "id": [3, 5, 16, 19, 20, 21, 23, 24, 25, 26, 27, 28, 30, 33, 35], "specif": [3, 5, 6, 8, 9, 11, 12, 13, 29, 31, 40, 43, 45, 46], "cleaner": [3, 5], "mount": [3, 5], "permiss": [3, 5, 9], "instal": [3, 5, 9, 15, 18, 19, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 37], "instruct": [3, 5, 24, 29, 31], "x11": [3, 5], "latest": [3, 4, 5], "move": [3, 5, 17, 19, 21, 22, 23, 24, 25, 26, 27, 28, 30, 31, 35, 41], "cart": [3, 5], "rail": [3, 5], "exec": [3, 5, 19], "bash": [3, 4, 5, 15, 17, 19, 29, 37], "home": [3, 5], "ros2_w": [3, 4, 5, 17], "example_posit": [3, 5], "element": [3, 5, 29, 33, 44], "access": [3, 4, 5, 7, 9, 14, 19, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 37, 43], "interfac": [3, 5, 6, 7, 8, 9, 10, 12, 14, 15, 17, 19, 21, 22, 23, 24, 26, 27, 28, 31, 32, 34, 36, 37, 39, 42, 44, 45, 48, 52, 54, 55, 56], "gazebosystem": 3, "hardwar": [3, 5, 7, 8, 10, 14, 16, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 30, 31, 35, 36, 37, 44, 51, 56], "slider_to_cart": [3, 5, 38, 47, 53], "command_interfac": [3, 4, 5, 13, 20, 22, 29, 33, 44, 46], "param": [3, 4, 5, 9, 11, 13, 14, 20, 24, 29], "min": [3, 4, 5, 13, 29], "1000": [3, 5, 29], "state_interfac": [3, 4, 5, 13, 20, 29, 33, 44, 46], "initial_valu": [3, 5, 20, 29], "mimick": [3, 5, 14], "manual": [3, 4, 5, 6, 9, 15, 17, 19, 25, 26, 27, 28, 30, 31, 37, 56], "multipli": [3, 5, 14], "definit": [3, 4, 5, 9, 15, 29, 33, 35, 36, 37, 39, 41, 42, 43, 44, 48], "left_finger_joint": [3, 5], "prismat": [3, 5], "right_finger_joint": [3, 5], "axi": [3, 5, 6, 29, 32, 34, 35, 39, 52], "xyz": [3, 5, 29], "rpy": [3, 5, 29], "1415926535": [3, 5], "parent": [3, 5, 15, 29, 35, 37], "link": [3, 4, 5, 7, 8, 12, 29, 33, 35, 36], "base": [3, 4, 5, 7, 12, 15, 16, 17, 21, 23, 24, 28, 29, 33, 35, 37, 40, 50, 51, 54, 55], "child": [3, 5, 13, 29, 35], "finger_left": [3, 5], "lower": [3, 5, 29], "upper": [3, 5, 29], "actual": [3, 5, 8, 35], "load": [3, 4, 5, 9, 15, 16, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 33, 37], "appropri": [3, 5, 6, 45], "By": [3, 5, 9, 21, 29, 43, 45], "though": [3, 5, 21, 22], "extens": [3, 5], "via": [3, 4, 5, 17, 19, 26, 27, 29, 31, 46, 55], "between": [3, 4, 5, 6, 12, 13, 17, 29, 32, 34, 35, 43, 44, 45, 46, 52], "filenam": [3, 5, 29], "libgazebo_ros2_control": 3, "so": [3, 4, 5, 8, 9, 15, 29, 33, 37, 46], "robot_param": [3, 5], "robot_descript": [3, 5, 9, 19, 29, 33], "robot_param_nod": [3, 5], "robot_state_publish": [3, 5, 21, 43], "config": [3, 5, 17], "cart_control": [3, 5], "yaml": [3, 4, 5, 6, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 46], "server": [3, 41, 46], "node": [3, 4, 5, 9, 11, 12, 14, 16, 19, 21, 23, 24, 25, 26, 27, 28, 29, 30, 31, 37], "attempt": [3, 5, 9, 46], "get": [3, 5, 7, 8, 9, 11, 12, 15, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 45, 56], "most": [3, 5, 6, 15, 17, 21, 29, 37], "least": [3, 5, 13, 15, 37, 46], "jointstateinterfac": [3, 5], "effortjointinterfac": [3, 5], "velocityjointinterfac": [3, 5], "complex": [3, 4, 5, 6, 7, 8], "mechan": [3, 5, 8, 46], "nonlinear": [3, 5], "spring": [3, 5], "linkag": [3, 5, 19, 22, 30], "etc": [3, 5, 9, 25, 29, 33, 56], "These": [3, 4, 5, 17, 29, 35, 41], "inherit": [3, 5, 9, 29], "gazebosysteminterfac": 3, "level": [3, 5, 6, 7, 9, 22, 23, 28, 38, 45, 47, 53], "properti": [3, 5, 29], "sub": [3, 5, 21], "class": [3, 4, 5, 7, 9, 12, 15, 16, 29, 37, 40, 45], "specifi": [3, 5, 9, 15, 17, 29, 33, 37, 44, 45, 46], "For": [3, 4, 5, 6, 7, 8, 9, 12, 14, 15, 17, 18, 19, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 37, 44, 46, 50, 52], "insid": [3, 5, 14, 17, 19], "joint_state_broadcast": [3, 5, 13, 16, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 30, 31], "publish": [3, 5, 6, 8, 13, 17, 20, 21, 29, 33, 36, 39, 42, 43, 44, 45, 48, 51, 56], "stateinterfac": [3, 5, 29], "topic": [3, 5, 6, 7, 8, 13, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 30, 31, 35, 36, 46, 54], "sensor_msg": [3, 5, 42, 48], "msg": [3, 5, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 30, 31, 33, 35, 38, 39, 40, 42, 45, 46, 47, 48, 50, 53], "jointstat": [3, 5], "joint_trajectory_control": [3, 5, 6, 16, 19, 36, 44, 49], "follow_joint_trajectori": [3, 5, 46], "control_msg": [3, 5, 33, 44, 46, 50, 56], "followjointtrajectori": [3, 5, 44, 46], "controller_manag": [3, 4, 5, 6, 9, 16, 25, 37, 38, 46, 47, 53], "ros__paramet": [3, 5, 33, 35, 38, 39, 41, 42, 43, 44, 46, 47, 48, 53], "update_r": [3, 5, 9, 38, 47, 53], "100": [3, 4, 5, 11, 13, 38, 47, 53], "hz": [3, 5, 35, 38, 41, 47, 53], "jointstatebroadcast": [3, 5, 16, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 30, 31], "contain": [3, 17, 18, 19, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 33, 35, 38, 39, 41, 42, 43, 44, 45, 47, 48, 50, 53], "content": [3, 15, 29, 37], "There": [3, 4, 5, 9, 12, 15, 17, 21, 23, 26, 27, 28, 37, 45, 46], "meter": [3, 5, 29], "cart_example_veloc": [3, 5], "cart_example_effort": [3, 5], "diff_driv": 3, "tricycle_dr": 3, "world": [3, 5, 9, 14, 21, 29, 33], "example_veloc": [3, 5], "example_effort": [3, 5], "example_diff_dr": [3, 5], "example_tricycle_dr": [3, 5], "parallel": [3, 4, 5, 13, 14], "gripper_mimic_joint_exampl": [3, 5], "send": [3, 5, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 45, 46], "example_gripp": [3, 5], "humbl": [4, 17, 29], "bug": [4, 56], "want": [4, 8, 9, 17], "thrive": 4, "roll": [4, 29, 35], "stack": [4, 7, 56], "earlier": [4, 6], "done": [4, 7, 8, 15, 19, 21, 23, 24, 25, 26, 27, 28, 29, 30, 33, 37], "download": [4, 17], "repositori": [4, 6, 10, 13, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 30, 31, 33, 35, 36], "mkdir": [4, 17], "p": [4, 9, 17, 44], "src": [4, 15, 17, 19, 29, 31, 33, 35, 37, 39, 41, 42, 43, 44, 48], "wget": 4, "raw": 4, "githubusercont": 4, "com": [4, 6, 17, 29], "ros2_control_ci": 4, "ros_control": [4, 6, 7, 56], "vc": [4, 17], "import": [4, 15, 17, 29, 35, 37, 44], "rosdep": [4, 17], "rosdistro": [4, 17], "sudo": [4, 9, 17], "apt": [4, 17], "path": [4, 7, 17, 29, 46], "ignor": [4, 9, 17, 35, 44, 50, 51], "r": [4, 17, 30], "y": [4, 17, 21, 24, 26, 27, 33, 39, 42], "everyth": [4, 15, 17, 19, 21, 22, 23, 24, 25, 26, 27, 28, 30, 31, 37], "opt": [4, 17, 19], "setup": [4, 14, 15, 17, 19, 24, 29, 31, 37, 45], "sh": [4, 17, 19, 31], "colcon": [4, 15, 17, 29, 37], "symlink": [4, 17, 29], "folder": [4, 7, 15, 17, 19, 20, 21, 24, 32, 33, 34, 35, 37, 39, 41, 42, 43, 44, 48, 50, 52], "found": [4, 9, 10, 15, 19, 20, 21, 24, 33, 35, 37, 39, 40, 42, 46, 48, 56], "figur": [4, 45], "cm": [4, 9], "abstract": [4, 7, 12, 29], "side": [4, 6, 7, 35], "entri": [4, 37], "point": [4, 29, 33, 37, 44, 45, 46, 56], "servic": [4, 6, 9, 12, 29], "executor": [4, 9], "custom": [4, 13, 14, 17, 20, 23, 24, 39, 43, 44, 54], "howev": [4, 6, 8, 9, 17, 22, 29], "recommend": [4, 7, 15], "ros2_control_nod": [4, 25, 29], "assum": [4, 8, 33], "On": [4, 29], "hand": [4, 29, 55], "unload": [4, 9, 16], "match": [4, 17, 45], "report": [4, 6, 43, 56], "error": [4, 6, 9, 11, 15, 22, 25, 29, 33, 37, 43, 44, 46], "execut": [4, 11, 15, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 34, 37, 41, 44, 45, 46, 52], "loop": [4, 7, 9, 14, 19, 25, 26, 27, 28, 29, 30, 31, 37, 43, 44, 46, 50], "output": [4, 6, 7, 13, 16, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 33], "driver": [4, 7, 17, 29, 55], "reus": [4, 7, 8], "flexibl": 4, "motor": [4, 8, 55], "encod": [4, 29, 35], "theori": [4, 56], "compar": [4, 6, 7], "refer": [4, 8, 21, 22, 29, 55], "measur": [4, 14, 23, 33, 39, 43, 44, 55], "calcul": [4, 21, 29, 33, 35, 45, 50], "input": [4, 6, 7, 8, 13, 20, 22, 29, 33, 35, 38, 40, 44, 45, 47, 50, 51, 53], "object": [4, 29], "deriv": [4, 44, 45], "controller_interfac": [4, 16, 29, 33, 37, 39, 42, 48], "export": [4, 8, 9, 15, 17, 29, 33, 37], "plugin": [4, 9, 11, 12, 13, 15, 16, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 30, 31, 33, 37, 49], "forwardcommandcontrol": [4, 19, 20, 22, 23, 25, 26, 27, 28, 30, 31], "lifecyclenod": 4, "document": [4, 6, 7, 13, 14, 15, 17, 24, 45, 46], "list": [4, 7, 8, 9, 12, 15, 16, 22, 29, 37, 39, 54, 55, 56], "srv": [4, 46], "controller_manager_msg": 4, "directli": [4, 19, 22, 31, 56], "friendli": 4, "cli": [4, 9, 10, 16, 19, 20, 21, 24, 25, 26, 27, 28, 30, 31], "auto": [4, 9], "complet": [4, 12, 22, 29, 45], "rang": [4, 13, 36], "common": [4, 6, 17, 36, 43, 56], "capabl": [4, 6], "realiz": [4, 7, 45, 46], "repres": [4, 12, 29, 35, 45], "dynam": [4, 15, 21, 29, 33, 37, 54], "dof": [4, 13, 17, 29, 41], "differ": [4, 6, 7, 10, 12, 13, 15, 17, 19, 20, 24, 25, 29, 35, 38, 39, 43, 45, 47, 50, 53], "transmiss": [4, 17], "humanoid": 4, "logic": 4, "channel": [4, 55], "kuka": [4, 19, 25, 26, 27, 55], "rsi": [4, 19, 26, 27, 55], "relat": [4, 6, 7], "forc": [4, 7, 13, 16, 26, 27, 33, 36, 55], "torqu": [4, 13, 26, 27, 33, 36], "simpl": [4, 6, 7, 8, 15, 17, 19, 21, 22, 24, 29, 30, 37, 41], "valv": [4, 13], "mandatori": [4, 9], "dc": 4, "arduino": [4, 23, 28], "board": 4, "modular": [4, 7, 17, 29], "independ": [4, 7, 27], "explan": [4, 9, 15], "given": [4, 9, 18, 19, 21, 22, 23, 24, 25, 26, 27, 28, 30, 38, 45, 46, 47, 53], "through": [4, 6, 7, 8, 9, 15, 16, 17, 22, 29, 37, 46, 56], "tag": [4, 9, 13, 15, 17, 19, 20, 21, 22, 23, 24, 25, 26, 28, 29, 30, 31, 37, 56], "chosen": [4, 13], "structur": [4, 6, 8, 9, 15, 29, 35, 37, 44, 45], "track": [4, 32, 52, 56], "togeth": [4, 8, 13, 24, 26, 50], "xacro": [4, 9, 11, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31], "hereund": 4, "rrbot": [4, 13, 16, 17, 20, 21, 23, 25, 26, 27, 28, 30], "effector": [4, 33], "site": 4, "rrbotsystempositiononli": [4, 27], "ros2_control_demo_hardwar": [4, 13, 16], "example_param_write_for_sec": 4, "example_param_read_for_sec": [4, 13], "joint1": [4, 13, 14, 16, 19, 20, 22, 23, 25, 26, 27, 28, 30, 31, 33, 46], "joint2": [4, 13, 16, 19, 20, 22, 23, 25, 26, 27, 28, 30, 31, 33, 46], "rrbotforcetorquesensor1d": 4, "forcetorquesensor1dhardwar": 4, "tcp_fts_sensor": [4, 13, 26, 27], "frame_id": [4, 13, 26, 27, 39, 42, 48, 50], "rrbot_tcp": 4, "min_forc": 4, "max_forc": 4, "rrbotgripp": 4, "positionactuatorhardwar": 4, "gripper_joint": 4, "instead": [4, 14, 20, 24, 29, 31, 33, 44], "pure": 4, "could": [4, 7, 8, 17, 25, 37, 43, 46], "altern": [4, 19, 46], "script": [4, 6, 15, 37], "skeleton": 4, "sim": [5, 16, 54], "dockerfil": [5, 17], "Then": [5, 8, 17, 29, 31, 45], "ign": 5, "meet": [5, 56], "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, 14, 15, 25, 35, 42, 43, 46, 56], "task": [6, 7, 35], "envis": 6, "simul": [6, 14, 16, 17, 19, 20, 22, 24, 26, 27, 29], "ignit": 6, "showcas": [6, 7], "grace": 6, "degrad": 6, "roadmap": [6, 17, 56], "place": [6, 35, 37], "draft": 6, "gpio": [6, 17, 29], "mode": [6, 8, 15, 22, 25, 33, 44, 45, 50], "switch": [6, 16, 17, 19, 25], "movement": [6, 44], "safeti": [6, 29], "skill": 6, "prefer": 6, "familiar": [6, 56], "mentor": 6, "\u0161togl": [6, 7], "size": [6, 35, 48], "350": 6, "hour": 6, "difficulti": 6, "medium": 6, "focus": [6, 7, 8], "although": [6, 8, 12, 13, 46], "easi": 6, "therefor": [6, 8, 9, 17, 37, 43, 44, 46], "often": [6, 14, 20, 24, 37, 43], "orchestr": 6, "purpos": [6, 19, 22, 23, 25, 26, 27, 28, 29, 30, 31], "conductor": 6, "scenario": [6, 45], "moment": [6, 8, 46], "right": [6, 17, 35], "replac": [6, 12, 36, 46], "high": [6, 9, 45], "moveit2": [6, 7, 36, 55], "simplecontrollermanag": 6, "goal": [6, 7, 13, 19, 25, 26, 27, 28, 30, 31, 41, 44, 46, 56], "form": [6, 17], "behavior": [6, 14, 29, 45], "benchmark": 6, "statu": [6, 8, 12, 16, 19, 44], "format": [6, 29, 33, 43, 46], "preset": 6, "modul": [6, 22], "reli": 6, "doubl": [6, 9, 14, 19, 29, 32, 33, 34, 35, 41, 44, 48, 50, 52], "desir": [6, 11, 44, 46], "both": [6, 7, 22, 29, 30, 35, 43, 44, 45, 46], "improv": 6, "readabl": [6, 29], "concept": [6, 7, 8, 14, 17, 19], "introduc": [6, 7, 8, 19, 29], "essenti": [6, 19], "group": [6, 8, 9, 13, 46, 56], "instanc": [6, 9, 22, 43], "imu": [6, 13, 36], "typic": [6, 13, 24, 43, 44], "acceleromet": 6, "gyroscop": 6, "compass": 6, "part": [6, 7, 13, 29, 37, 45, 46], "Such": [6, 22], "struct": 6, "low": [6, 7], "profil": 6, "intern": [6, 8, 11, 13, 15, 19, 21, 22, 23, 24, 25, 26, 27, 28, 30, 33, 45, 46], "relev": [6, 33, 44, 50, 56], "addition": [6, 29, 32, 34, 52, 56], "few": [6, 7], "175": 6, "rewrit": [6, 56], "rich": 6, "wa": [6, 15, 19, 20, 24, 25, 29, 37, 45], "motiv": 6, "adopt": 6, "port": [6, 12, 13], "quit": 6, "miss": [6, 43, 45, 46], "diff_drive_control": [6, 8, 16, 24], "consist": [6, 46, 56], "onc": [6, 7, 19, 21, 24, 25, 26, 27, 29, 30], "identifi": [6, 29], "much": [6, 8, 19, 21, 23, 24, 25, 26, 27, 28, 30, 37, 46], "303": 6, "304": 6, "stretch": 6, "realtime_tool": [6, 56], "81": [6, 33], "unit": 6, "gmock": 6, "cc": [7, 45, 46], "BY": [7, 45, 46], "licens": [7, 45, 46], "author": [7, 8], "either": [7, 19, 25, 26, 27, 28, 30, 31, 43, 45], "down": [7, 29, 33], "below": [7, 9, 18, 19, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 44, 45, 46], "compani": 7, "my": 7, "company_nam": 7, "tricycl": [7, 36, 51], "event": 7, "pixel": 7, "prefac": 7, "introduct": 7, "plapp": 7, "kernel": [7, 9], "agnost": [7, 29], "share": [7, 15, 29, 31, 37, 50], "well": 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"studi": 7, "ur": 7, "With": [7, 29, 31, 46], "moveit": [7, 14], "ingredi": 7, "run": [7, 8, 9, 14, 16, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 33, 45, 50], "scale": [7, 44], "factor": [7, 35], "teach": 7, "pendant": 7, "influenc": 7, "picknik": 7, "inc": 7, "lovro": 7, "ivanov": 7, "zelenak": 7, "rune": 7, "s\u00f8e": 7, "knudsen": 7, "onlin": [7, 15, 37], "trajectori": [7, 19, 29, 36, 44, 56], "admitt": [7, 36], "One": [7, 8, 20], "reason": [7, 8, 9, 29], "upgrad": 7, "ros1": [7, 17], "better": 7, "realtim": [7, 9, 29, 35, 46, 51, 56], "contact": 7, "insert": 7, "singl": [7, 26, 41], "waypoint": [7, 45, 46], "mani": [7, 29, 36, 37], "teleoper": 7, "involv": 7, "kinemat": [7, 8, 17, 24, 29, 32, 33, 34, 50, 52], "acceler": [7, 17, 25, 29, 33, 35, 42, 44, 45, 46, 51], "jerk": [7, 35, 51], "obei": [7, 29], "demo": [7, 13], "booth": 7, "zeleank": 7, "unifi": 7, "life": [7, 29], "cycl": [7, 29], "_control": [7, 17], "wild": 7, "materi": 7, "quick": [7, 12], "overview": 7, 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[[7, "resources"]], "Presentations": [[7, "presentations"]], "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"]], "Controller Chaining / Cascade Control": [[8, "controller-chaining-cascade-control"]], "Scope of the Document and Background Knowledge": [[8, "scope-of-the-document-and-background-knowledge"]], "Motivation, Purpose and Use": [[8, "motivation-purpose-and-use"]], "Implementation": [[8, "implementation"]], "A Controller Base-Class: ChainableController": [[8, "a-controller-base-class-chainablecontroller"]], "Inner Resource Management": [[8, "inner-resource-management"]], "Activation and Deactivation Chained Controllers": [[8, "activation-and-deactivation-chained-controllers"]], "Debugging outputs": [[8, "debugging-outputs"]], "Closing remarks": [[8, "closing-remarks"]], "Determinism": [[9, "determinism"]], "Parameters": [[9, "parameters"], [14, "parameters"], [32, "parameters"], [33, "parameters"], [34, "parameters"], [35, "parameters"], [38, "parameters"], [39, "parameters"], [40, "parameters"], [41, "parameters"], [42, "parameters"], [43, "parameters"], [47, "parameters"], [48, "parameters"], [50, "parameters"], [52, "parameters"], [53, "parameters"]], "Helper scripts": [[9, "helper-scripts"]], "spawner": [[9, "spawner"]], "unspawner": [[9, "unspawner"]], "Using the Controller Manager in a Process": [[9, "using-the-controller-manager-in-a-process"]], "Concepts": [[9, "concepts"], [10, "concepts"]], "Restarting all controllers": [[9, "restarting-all-controllers"]], "Restarting hardware": [[9, "restarting-hardware"]], "ros2_control": [[10, "ros2-control"]], "API Documentation": [[10, "api-documentation"]], "Features": [[10, "features"]], "Different update rates for Hardware Components": [[11, "different-update-rates-for-hardware-components"]], "By counting loops": [[11, "by-counting-loops"]], "By measuring elapsed time": [[11, "by-measuring-elapsed-time"]], "Guidelines and Best Practices": [[12, "guidelines-and-best-practices"], [36, "guidelines-and-best-practices"]], "Handling of errors that happen during read() and write() calls": [[12, "handling-of-errors-that-happen-during-read-and-write-calls"]], "Migration from Foxy to newer versions": [[12, "migration-from-foxy-to-newer-versions"]], "ros2_control hardware interface types": [[13, "ros2-control-hardware-interface-types"]], "Joints": [[13, "joints"]], "Sensors": [[13, "sensors"]], "GPIOs": [[13, "gpios"]], "Examples": [[13, "examples"], [17, "examples"]], "Mock Components": [[14, "mock-components"]], "Generic System": [[14, "generic-system"]], "Per-joint Parameters": [[14, "per-joint-parameters"]], "Writing a Hardware Component": [[15, "writing-a-hardware-component"]], "Useful External References": [[15, "useful-external-references"], [37, "useful-external-references"]], "Command Line Interface": [[16, "command-line-interface"]], "list_controllers": [[16, "list-controllers"]], "list_controller_types": [[16, "list-controller-types"]], "list_hardware_components": [[16, "list-hardware-components"]], "list_hardware_interfaces": [[16, "list-hardware-interfaces"]], "load_controller": [[16, "load-controller"]], "reload_controller_libraries": [[16, "reload-controller-libraries"]], "set_controller_state": [[16, "set-controller-state"]], "set_hardware_component_state": [[16, "set-hardware-component-state"]], "switch_controllers": [[16, "switch-controllers"]], "unload_controller": [[16, "unload-controller"]], "view_controller_chains": [[16, "view-controller-chains"]], "Demos": [[17, "demos"]], "What you can find in this repository": [[17, "what-you-can-find-in-this-repository"]], "Goals": [[17, "goals"]], "Examples Overview": [[17, "examples-overview"]], "Local installation": [[17, "local-installation"]], "Build from debian packages": [[17, "build-from-debian-packages"]], "Build from source": [[17, "build-from-source"]], "Using Docker": [[17, "using-docker"]], "To view the robot": [[17, "to-view-the-robot"]], "To run the ros2_control demos": [[17, "to-run-the-ros2-control-demos"]], "Quick Hints": [[17, "quick-hints"]], "Example 1: RRBot": [[19, "example-1-rrbot"]], "Tutorial steps": [[19, "tutorial-steps"], [21, "tutorial-steps"], [22, "tutorial-steps"], [23, "tutorial-steps"], [24, "tutorial-steps"], [25, "tutorial-steps"], [26, "tutorial-steps"], [27, "tutorial-steps"], [28, "tutorial-steps"], [30, "tutorial-steps"], [31, "tutorial-steps"]], "Files used for this demos": [[19, "files-used-for-this-demos"], [20, "files-used-for-this-demos"], [21, "files-used-for-this-demos"], [22, "files-used-for-this-demos"], [23, "files-used-for-this-demos"], [24, "files-used-for-this-demos"], [25, "files-used-for-this-demos"], [27, "files-used-for-this-demos"], [28, "files-used-for-this-demos"], [30, "files-used-for-this-demos"], [31, "files-used-for-this-demos"]], "Controllers from this demo": [[19, "controllers-from-this-demo"], [20, "controllers-from-this-demo"], [21, "controllers-from-this-demo"], [22, "controllers-from-this-demo"], [23, "controllers-from-this-demo"], [24, "controllers-from-this-demo"], [25, "controllers-from-this-demo"], [26, "controllers-from-this-demo"], [27, "controllers-from-this-demo"], [28, "controllers-from-this-demo"], [30, "controllers-from-this-demo"], [31, "controllers-from-this-demo"]], "Example 10: Industrial robot with GPIO interfaces": [[20, "example-10-industrial-robot-with-gpio-interfaces"]], "CarlikeBot": [[21, "carlikebot"]], "Example 12: Controller chaining with RRBot": [[22, "example-12-controller-chaining-with-rrbot"]], "Example 14: Modular robot with actuators not providing states": [[23, "example-14-modular-robot-with-actuators-not-providing-states"]], "DiffBot": [[24, "diffbot"]], "Example 3: Robots with multiple interfaces": [[25, "example-3-robots-with-multiple-interfaces"]], "Example 4: Industrial robot with integrated sensor": [[26, "example-4-industrial-robot-with-integrated-sensor"]], "Files used for this demo": [[26, "files-used-for-this-demo"]], "Example 5: Industrial robot with externally connected sensor": [[27, "example-5-industrial-robot-with-externally-connected-sensor"]], "Example 6: Modular Robots with separate communication to each actuator": [[28, "example-6-modular-robots-with-separate-communication-to-each-actuator"]], "Example 7: Full tutorial with a 6DOF robot": [[29, "example-7-full-tutorial-with-a-6dof-robot"]], "ros2_control overview": [[29, "ros2-control-overview"]], "Writing a URDF": [[29, "writing-a-urdf"]], "Geometry": [[29, "geometry"]], "URDF file": [[29, "urdf-file"]], "Writing a hardware interface": [[29, "writing-a-hardware-interface"]], "Plugin description file (hardware)": [[29, "plugin-description-file-hardware"]], "CMake library (hardware)": [[29, "cmake-library-hardware"]], "Writing a controller": [[29, "writing-a-controller"]], "Plugin description file (controller)": [[29, "plugin-description-file-controller"]], "CMake library (controller)": [[29, "cmake-library-controller"]], "Launching the example": [[29, "launching-the-example"]], "Example 8: Industrial Robots with an exposed transmission interface": [[30, "example-8-industrial-robots-with-an-exposed-transmission-interface"]], "Example 9: Simulation with RRBot": [[31, "example-9-simulation-with-rrbot"]], "ackermann_steering_controller": [[32, "ackermann-steering-controller"]], "Admittance Controller": [[33, "admittance-controller"]], "ROS 2 interface of the controller": [[33, "ros-2-interface-of-the-controller"], [38, "ros-2-interface-of-the-controller"], [40, "ros-2-interface-of-the-controller"], [47, "ros-2-interface-of-the-controller"], [53, "ros-2-interface-of-the-controller"]], "Topics": [[33, "topics"], [38, "topics"], [40, "topics"], [47, "topics"], [53, "topics"]], "ros2_control interfaces": [[33, "ros2-control-interfaces"]], "References": [[33, "references"], [35, "references"], [46, "references"]], "States": [[33, "states"], [46, "states"], [50, "states"]], "Commands": [[33, "commands"], [43, "commands"], [46, "commands"], [50, "commands"]], "bicycle_steering_controller": [[34, "bicycle-steering-controller"]], "diff_drive_controller": [[35, "diff-drive-controller"]], "Other features": [[35, "other-features"], [46, "other-features"], [51, "other-features"]], "Description of controller\u2019s interfaces": [[35, "description-of-controller-s-interfaces"], [46, "description-of-controller-s-interfaces"], [50, "description-of-controller-s-interfaces"]], "Feedback": [[35, "feedback"]], "Output": [[35, "output"]], "ROS 2 Interfaces": [[35, "ros-2-interfaces"]], "Subscribers": [[35, "subscribers"], [50, "subscribers"]], "Publishers": [[35, "publishers"], [46, "publishers"], [50, "publishers"]], "ros2_controllers": [[36, "ros2-controllers"]], "Controllers for Mobile Robots": [[36, "controllers-for-mobile-robots"]], "Controllers for Manipulators and Other Robots": [[36, "controllers-for-manipulators-and-other-robots"]], "Broadcasters": [[36, "broadcasters"]], "Writing a new controller": [[37, "writing-a-new-controller"]], "effort_controllers": [[38, "effort-controllers"]], "effort_controllers/JointGroupEffortController": [[38, "effort-controllers-jointgroupeffortcontroller"]], "Force Torque Sensor Broadcaster": [[39, "force-torque-sensor-broadcaster"]], "forward_command_controller": [[40, "forward-command-controller"]], "Hardware interface type": [[40, "hardware-interface-type"], [43, "hardware-interface-type"]], "Gripper Action Controller": [[41, "gripper-action-controller"]], "List of parameters": [[41, "list-of-parameters"], [42, "list-of-parameters"], [43, "list-of-parameters"], [44, "list-of-parameters"], [48, "list-of-parameters"]], "An example parameter file": [[41, "an-example-parameter-file"], [42, "an-example-parameter-file"], [43, "an-example-parameter-file"], [44, "an-example-parameter-file"], [48, "an-example-parameter-file"]], "IMU Sensor Broadcaster": [[42, "imu-sensor-broadcaster"]], "joint_state_broadcaster": [[43, "joint-state-broadcaster"]], "Details about parameters": [[44, "details-about-parameters"]], "Trajectory Representation": [[45, "trajectory-representation"]], "Interpolation Method none": [[45, "interpolation-method-none"]], "Interpolation Method spline": [[45, "interpolation-method-spline"]], "Visualized Examples": [[45, "visualized-examples"]], "Trajectory Replacement": [[45, "trajectory-replacement"]], "joint_trajectory_controller": [[46, "joint-trajectory-controller"]], "Hardware interface types": [[46, "hardware-interface-types"]], "Using Joint Trajectory Controller(s)": [[46, "using-joint-trajectory-controller-s"]], "Preemption policy 1": [[46, "preemption-policy"]], "Actions 1": [[46, "actions"]], "Subscriber 1": [[46, "subscriber"]], "Services": [[46, "services"]], "Further information": [[46, "further-information"]], "position_controllers": [[47, "position-controllers"]], "position_controllers/JointGroupPositionController": [[47, "position-controllers-jointgrouppositioncontroller"]], "Range Sensor Broadcaster": [[48, "range-sensor-broadcaster"]], "rqt_joint_trajectory_controller": [[49, "rqt-joint-trajectory-controller"]], "steering_controllers_library": [[50, "steering-controllers-library"]], "Execution logic of the controller": [[50, "execution-logic-of-the-controller"]], "References (from a preceding controller)": [[50, "references-from-a-preceding-controller"]], "tricycle_controller": [[51, "tricycle-controller"]], "Velocity commands": [[51, "velocity-commands"]], "tricycle_steering_controller": [[52, "tricycle-steering-controller"]], "velocity_controllers": [[53, "velocity-controllers"]], "velocity_controllers/JointGroupVelocityController": [[53, "velocity-controllers-jointgroupvelocitycontroller"]], "Simulator Integrations": [[54, "simulator-integrations"]], "Hosted by ros-controls": [[54, "hosted-by-ros-controls"]], "Community": [[54, "community"]], "Supported Robots": [[55, "supported-robots"]], "Communication protocols": [[55, "communication-protocols"]], "End-effectors": [[55, "end-effectors"]], "Non robot-devices": [[55, "non-robot-devices"]], "Official (supported by robot manufacturer)": [[55, "official-supported-by-robot-manufacturer"]], "Unofficial (from the community)": [[55, "unofficial-from-the-community"]], "Welcome to the ros2_control documentation - Humble!": [[56, "welcome-to-the-ros2-control-documentation-humble"]], "ros2_control Repositories": [[56, "ros2-control-repositories"]], "Development Organisation and Communication": [[56, "development-organisation-and-communication"]]}, "indexentries": 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Built on 2024-04-06 at 05:31 GMT

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Built on 2024-04-07 at 05:31 GMT

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Interface", "Demos", "<no title>", "Example 1: RRBot", "Example 10: Industrial robot with GPIO interfaces", "CarlikeBot", "Example 12: Controller chaining with RRBot", "Example 14: Modular robot with actuators not providing states", "DiffBot", "Example 3: Robots with multiple interfaces", "Example 4: Industrial robot with integrated sensor", "Example 5: Industrial robot with externally connected sensor", "Example 6: Modular Robots with separate communication to each actuator", "Example 7: Full tutorial with a 6DOF robot", "Example 8: Industrial Robots with an exposed transmission interface", "Example 9: Simulation with RRBot", "ackermann_steering_controller", "Admittance Controller", "bicycle_steering_controller", "diff_drive_controller", "ros2_controllers", "Writing a new controller", "effort_controllers", "Force Torque Sensor Broadcaster", "forward_command_controller", "Gripper Action Controller", "IMU Sensor Broadcaster", "joint_state_broadcaster", "Details about parameters", 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"proport": [1, 44], "its": [1, 2, 3, 4, 5, 6, 7, 8, 9, 13, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 39, 40, 41, 42, 43, 44, 45, 48, 50, 51, 52], "ping": 1, "them": [1, 6, 8, 9, 15, 18, 19, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 37, 43, 45, 55], "necessari": [1, 8, 12], "repeatedli": 1, "sphinx": 1, "doc": [1, 8, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 30, 31, 56], "theme": 1, "gener": [1, 6, 7, 13, 15, 16, 21, 23, 24, 25, 26, 27, 28, 29, 36, 37, 46, 50, 56], "locat": [1, 3, 29, 33, 35, 39, 41, 42, 43, 44, 48], "control": [1, 7, 10, 11, 12, 13, 14, 15, 16, 17, 32, 34, 39, 42, 43, 44, 45, 48, 51, 52, 55, 56], "org": [1, 6, 11, 32, 34, 52], "while": [1, 4, 6, 7, 29, 33, 45], "packag": [1, 2, 3, 5, 12, 15, 29, 32, 33, 34, 35, 37, 38, 39, 42, 46, 47, 48, 50, 52, 53, 56], "written": [1, 15, 23, 28, 29, 37], "respect": [1, 3, 4, 5, 6, 7, 20, 44, 45, 46], "type": [1, 2, 3, 4, 5, 7, 8, 9, 10, 11, 12, 15, 16, 17, 20, 23, 24, 26, 27, 28, 29, 35, 36, 37, 38, 39, 42, 44, 47, 48, 50, 53], "stabl": [1, 4], "against": 1, "accept": [1, 15, 25, 37, 38, 44, 45, 46, 47, 53], "api": [1, 3, 5, 6, 15, 19, 21, 23, 24, 25, 26, 27, 28, 30], "abi": 1, "e": [1, 2, 4, 6, 7, 8, 9, 13, 14, 15, 17, 19, 20, 22, 23, 25, 26, 27, 28, 29, 30, 31, 33, 35, 37, 38, 39, 43, 44, 45, 47, 50, 51, 53, 56], "name": [1, 2, 3, 4, 5, 7, 9, 11, 13, 14, 15, 16, 17, 19, 20, 22, 23, 24, 26, 27, 28, 29, 31, 33, 35, 37, 39, 40, 42, 43, 44, 48, 50, 51], "convent": [1, 29], "master": [1, 4], "semi": 1, "binari": 1, "good": [1, 3, 5, 6, 35, 51], "same": [1, 8, 11, 25, 29, 36, 39, 44, 45, 46], "build": [1, 15, 29, 33, 37], "dai": 1, "ros_distro": [1, 4, 17, 19], "foxi": [1, 7, 15], "galact": [1, 12, 15], "releas": [1, 4, 7, 17, 29], "version": [1, 4, 6, 11, 17, 46], "non": [1, 7, 22, 29, 39], "brake": 1, "distribut": [1, 4, 17, 56], "three": [1, 2, 4, 12, 13, 17, 29, 37, 45, 52], "stage": [1, 8, 22], "current": [1, 6, 11, 12, 13, 15, 16, 45, 46, 50], "futur": [1, 4, 7, 8, 45, 46], "compat": [1, 2, 4, 7, 15, 17], "direct": [1, 2, 6, 15, 29, 37, 44], "local": [1, 3, 5, 18, 19, 21, 22, 23, 24, 25, 26, 27, 28, 30, 31, 43], "possibl": [1, 4, 6, 9, 13, 17, 19, 21, 23, 24, 25, 26, 27, 28, 30, 33, 37, 45], "core": [1, 10, 29], "immedi": [1, 9, 19, 22, 23, 25, 26, 27, 28, 29, 30, 31], "depend": [1, 4, 12, 13, 15, 17, 18, 19, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 36, 37, 45, 50], "fail": [1, 25, 29], "expect": [1, 6, 22, 29, 32, 34, 35, 46, 50, 51, 52], "after": [1, 8, 9, 15, 17, 19, 29, 35, 37, 44, 45, 46, 50, 51], "next": [1, 19, 29, 45], "sync": 1, "abl": 1, "potenti": [1, 37, 44], "mid": 1, "power": [1, 3, 5, 7, 15], "plausibl": 1, "analyt": 1, "robothw": 2, "rigid": 2, "ani": [2, 4, 7, 8, 9, 12, 13, 17, 22, 29, 37, 44, 46], "imposs": 2, "extend": [2, 4, 6, 8, 15, 37], "exist": [2, 4, 6, 8, 9, 12, 13, 15, 19, 21, 23, 24, 25, 26, 27, 28, 29, 30, 33, 37, 46], "addit": [2, 3, 5, 8, 17, 20, 24, 29], "sensor": [2, 4, 6, 12, 14, 15, 17, 23, 28, 29, 33, 36, 55], "actuat": [2, 4, 6, 12, 13, 14, 15, 17, 22, 51], "tool": [2, 3, 5, 6, 7, 29, 33], "without": [2, 3, 4, 5, 7, 9, 14, 15, 17, 22, 31, 37, 44, 45], "combinedrobothardwar": 2, "drawback": [2, 56], "solut": [2, 7], "optim": [2, 9], "combin": [2, 8, 13, 14, 17, 25, 43, 45, 46], "extern": [2, 4, 6, 8, 14, 17, 33], "defin": [2, 3, 5, 6, 9, 14, 15, 17, 29, 33, 37, 39, 42, 43, 44, 45, 46, 48, 50], "system": [2, 3, 4, 5, 6, 7, 11, 12, 13, 15, 16, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 44, 46, 54, 55, 56], "composit": [2, 7], "basic": [2, 3, 4, 5, 6, 7, 15, 17, 24, 37], "physic": [2, 4, 12, 13, 14], "cell": [2, 39], "surround": 2, "describ": [2, 4, 8, 13, 17, 19, 25, 29, 31, 35, 45], "multi": [2, 4, 6, 7, 17, 25], "gripper": [2, 3, 4, 5, 7, 13, 14, 36], "out": [2, 3, 5, 9, 29, 35], "box": [2, 17, 19, 21, 24, 25, 26, 27, 30, 31], "detail": [2, 3, 4, 5, 9, 12, 13, 14, 15, 22, 29, 31, 32, 34, 35, 37, 45, 46, 52], "allow": [2, 3, 4, 5, 17, 29, 41, 44, 45, 46, 49], "joint": [2, 4, 7, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 40, 41, 43, 44, 45, 47, 50, 51, 52, 53, 56], "posit": [2, 3, 4, 5, 7, 9, 13, 16, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 33, 35, 36, 38, 43, 44, 45, 46, 47, 50, 53], "veloc": [2, 3, 4, 5, 7, 8, 17, 21, 23, 24, 25, 29, 33, 34, 35, 36, 41, 42, 43, 44, 45, 46, 47, 50, 53], "effort": [2, 3, 5, 17, 29, 36, 38, 41, 43, 44, 46], "hard": [2, 9], "data": [2, 4, 6, 14, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 35, 36, 43, 45, 51], "approach": [2, 8, 11], "doe": [2, 8, 9, 15, 19, 21, 23, 24, 25, 26, 27, 28, 29, 30, 37, 45, 46], "enforc": [2, 25, 29], "string": [2, 9, 14, 17, 33, 35, 37, 39, 40, 41, 42, 43, 44, 48, 50, 51], "ensur": [2, 7, 9, 29, 45], "constant": [2, 17], "hardware_interfac": [2, 3, 4, 5, 11, 12, 14, 15, 17, 23, 26, 27, 28, 29, 33, 35, 36, 37], "In": [2, 3, 4, 5, 6, 7, 8, 11, 15, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 36, 37, 43, 45, 50], "had": 2, "itself": [2, 8], "took": 2, "care": [2, 6, 9, 15, 25, 37, 46], "regist": [2, 3, 5], "resourc": [2, 3, 5, 15, 25], "conflict": [2, 4, 6], "resourcemanag": [2, 8], "take": [2, 6, 8, 15, 22, 25, 35, 37, 43, 45], "state": [2, 3, 4, 5, 6, 7, 9, 11, 12, 13, 14, 15, 16, 17, 19, 20, 21, 22, 24, 25, 26, 27, 28, 29, 30, 31, 36, 37, 39, 43, 44], "avail": [2, 4, 7, 16, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 37, 43, 46], "enabl": [2, 4, 6, 7, 12, 15, 16, 17, 24, 33, 35, 39, 50], "anymor": 2, "controllermanag": [2, 9], "implement": [2, 3, 4, 5, 6, 7, 9, 11, 13, 14, 15, 17, 19, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 32, 33, 34, 35, 37, 40, 45, 46, 50, 51, 52, 56], "systeminterfac": [2, 3, 5, 11, 14, 26, 29], "granular": 2, "sensorinterfac": [2, 23, 27], "actuatorinterfac": [2, 23, 28], "abov": [2, 19, 20, 22, 23, 24, 25, 26, 27, 28, 30, 31, 36, 45], "choos": [2, 4, 17, 50], "suitabl": [2, 7], "strategi": [2, 17, 45], "decid": [2, 11], "which": [2, 3, 4, 5, 6, 7, 9, 11, 15, 16, 17, 19, 21, 24, 25, 26, 27, 28, 29, 30, 31, 33, 35, 36, 37, 39, 42, 43, 44, 45, 46, 48, 50, 51], "case": [2, 3, 5, 6, 7, 8, 17, 22, 29, 37, 43, 45, 46, 56], "mayb": [2, 8], "sens": [2, 4, 36, 39], "multipl": [2, 4, 7, 8, 13, 15, 17, 43], "constructor": [2, 15, 29, 37], "initi": [2, 15, 20, 29, 37, 45], "variabl": [2, 11, 15, 29, 37, 44], "need": [2, 3, 4, 5, 6, 7, 8, 13, 15, 17, 19, 21, 23, 24, 25, 26, 27, 28, 29, 30, 33, 36, 37, 45], "commun": [2, 4, 6, 7, 11, 15, 17, 19, 21, 23, 24, 25, 26, 27, 29, 30], "default": [2, 4, 8, 9, 14, 21, 25, 32, 33, 34, 35, 39, 40, 41, 42, 43, 44, 45, 46, 48, 50, 51, 52], "configur": [2, 3, 4, 5, 6, 7, 8, 9, 12, 14, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 37, 43, 44, 45, 46, 50], "paramet": [2, 3, 5, 7, 11, 15, 17, 19, 20, 24, 29, 37, 46], "pars": [2, 3, 5, 9, 10, 13], "urdf": [2, 7, 9, 11, 13, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 30, 31, 33], "snippet": 2, "hardwareinfo": [2, 11, 29], "here": [2, 10, 15, 29, 37, 38, 46, 47, 53], "cross": [2, 43], "valu": [2, 4, 6, 11, 13, 14, 15, 17, 19, 20, 22, 24, 26, 27, 29, 31, 33, 35, 37, 39, 42, 43, 44, 46, 48, 50, 51], "export_": 2, "_interfac": [2, 15], "joint_a2": 2, "extract": [2, 35, 51], "sensibl": 2, "start": [2, 3, 5, 7, 8, 9, 12, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 35, 37, 44, 45, 51, 56], "stop": [2, 7, 8, 9, 12, 16, 19, 20, 24, 25, 29, 35, 44, 51], "usual": [2, 4, 9, 14, 15, 29, 33, 37], "includ": [2, 3, 5, 6, 12, 15, 16, 21, 29, 33, 37, 46, 51, 55], "command": [2, 3, 4, 5, 6, 7, 9, 10, 13, 14, 15, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 34, 35, 36, 37, 38, 40, 41, 44, 45, 47, 49, 52, 53, 56], "safe": [2, 29, 35, 37, 46, 51], "interrupt": [2, 9], "stream": [2, 7], "write": [2, 4, 7, 8, 9, 10, 11, 20, 22, 23, 24, 28, 33, 36], "exchang": [2, 6, 19, 21, 23, 24, 25, 26, 27, 28, 30, 56], "equival": [2, 29], "forget": [2, 4, 17, 46], "pluginlib_export_class": [2, 15, 17, 29, 37], "macro": [2, 4, 11, 15, 17, 29, 37], "end": [2, 4, 12, 15, 29, 33, 37, 44], "cpp": [2, 15, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 37], "file": [2, 3, 4, 5, 6, 7, 9, 11, 14, 15, 17, 33, 35, 37, 38, 39, 46, 47, 53], "creat": [2, 3, 4, 5, 7, 9, 14, 15, 17, 21, 29, 37], "xml": [2, 3, 5, 11, 12, 15, 29, 37], "librari": [2, 4, 15, 16, 21, 32, 34, 36, 37, 50, 52], "pluginlib": [2, 3, 4, 5, 9, 15, 29, 37], "exampl": [2, 3, 4, 5, 6, 7, 8, 9, 14, 16, 21, 24, 33, 35, 38, 39, 46, 47, 51, 53, 56], "rrbotsystempositiononlyhardwar": [2, 4, 13, 16, 19, 22, 27], "excel": 2, "jointtrajectorycontrol": [2, 3, 5, 16, 19, 33, 46], "real": [2, 6, 7, 9, 14, 20, 24, 37, 43, 44, 56], "critic": [2, 6], "mark": [2, 22], "controllerinterfac": [2, 4, 8, 16, 29, 37], "member": [2, 15, 29, 37, 45], "init": 2, "call": [2, 3, 4, 5, 8, 11, 15, 20, 24, 29, 37], "lifecycl": [2, 4, 7, 9, 12, 15, 29, 36], "declar": [2, 11, 15, 29, 37], "state_interface_configur": [2, 29, 37], "command_interface_configur": [2, 29, 37], "design": [2, 4, 6, 7, 8, 21, 29, 56], "updat": [2, 4, 8, 9, 10, 12, 17, 21, 29, 33, 36, 37, 46, 50], "manag": [2, 3, 5, 6, 7, 10, 12, 15, 16, 17, 29, 37, 46, 56], "option": [2, 3, 4, 5, 9, 12, 14, 15, 16, 19, 20, 25, 33, 35, 36, 37, 39, 43, 46, 50], "on_configur": [2, 15, 29, 37], "on_activ": [2, 11, 12, 15, 29, 37], "on_deactiv": [2, 12, 15, 29, 37], "deactiv": [2, 4, 16, 19, 44], "final": [2, 7, 12, 29], "joint_trajectory_plugin": 2, "integr": [3, 4, 5, 6, 7, 14, 17, 22, 24, 29, 44, 45, 46, 51, 56], "architectur": [3, 5, 6, 7], "gazebo": [3, 5, 6, 17, 19, 31, 54], "classic": [3, 17, 31, 54], "instanti": [3, 5, 9], "connect": [3, 4, 5, 14, 17, 26, 29], "model": [3, 5, 19, 21, 29], "cd": [3, 4, 5, 17, 29], "docker": [3, 5, 18, 19, 21, 22, 23, 24, 25, 26, 27, 28, 30, 31], "gui": [3, 5, 17, 19, 22, 23, 25, 26, 27, 28, 30, 31, 49], "properli": [3, 5, 8, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31], "rm": [3, 4, 5, 17, 19, 31], "net": [3, 5, 7, 17, 19, 31], "host": [3, 5, 17, 19, 31, 55], "ros2": [3, 4, 5, 7, 9, 15, 16, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 37], "launch": [3, 4, 5, 9, 14, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 30, 31], "cart_example_posit": [3, 5], "py": [3, 5, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31], "fals": [3, 5, 11, 14, 17, 19, 21, 31, 33, 35, 41, 43, 44, 46, 50, 51], "machin": [3, 4, 5, 6, 17, 31], "client": [3, 5, 31, 46], "gzclient": [3, 31], "rocker": [3, 5], "go": [3, 5, 7, 9, 15, 29, 37], "imag": [3, 5, 9, 31], "inject": [3, 5, 7], "nvidia": [3, 5], "And": 3, "user": [3, 5, 6, 9, 17, 29, 45], "id": [3, 5, 16, 19, 20, 21, 23, 24, 25, 26, 27, 28, 30, 33, 35], "specif": [3, 5, 6, 8, 9, 11, 12, 13, 29, 31, 40, 43, 45, 46], "cleaner": [3, 5], "mount": [3, 5], "permiss": [3, 5, 9], "instal": [3, 5, 9, 15, 18, 19, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 37], "instruct": [3, 5, 24, 29, 31], "x11": [3, 5], "latest": [3, 4, 5], "move": [3, 5, 17, 19, 21, 22, 23, 24, 25, 26, 27, 28, 30, 31, 35, 41, 51], "cart": [3, 5], "rail": [3, 5], "exec": [3, 5, 19], "bash": [3, 4, 5, 15, 17, 19, 29, 37], "home": [3, 5], "ros2_w": [3, 4, 5, 17], "example_posit": [3, 5], "element": [3, 5, 29, 33, 44], "access": [3, 4, 5, 7, 9, 14, 19, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 37, 43], "interfac": [3, 5, 6, 7, 8, 9, 10, 12, 14, 15, 17, 19, 21, 22, 23, 24, 26, 27, 28, 31, 32, 34, 36, 37, 39, 42, 44, 45, 48, 52, 54, 55, 56], "gazebosystem": 3, "hardwar": [3, 5, 7, 8, 10, 14, 16, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 30, 31, 35, 36, 37, 44, 51, 56], "slider_to_cart": [3, 5, 38, 47, 53], "command_interfac": [3, 4, 5, 13, 20, 22, 29, 33, 44, 46], "param": [3, 4, 5, 9, 11, 13, 14, 20, 24, 29], "min": [3, 4, 5, 13, 29], "1000": [3, 5, 29], "state_interfac": [3, 4, 5, 13, 20, 29, 33, 44, 46], "initial_valu": [3, 5, 20, 29], "mimick": [3, 5, 14], "manual": [3, 4, 5, 6, 9, 15, 17, 19, 25, 26, 27, 28, 30, 31, 37, 56], "multipli": [3, 5, 14], "definit": [3, 4, 5, 9, 15, 29, 33, 35, 36, 37, 39, 41, 42, 43, 44, 48], "left_finger_joint": [3, 5], "prismat": [3, 5], "right_finger_joint": [3, 5], "axi": [3, 5, 6, 29, 32, 34, 35, 39, 52], "xyz": [3, 5, 29], "rpy": [3, 5, 29], "1415926535": [3, 5], "parent": [3, 5, 15, 29, 35, 37, 51], "link": [3, 4, 5, 7, 8, 12, 29, 33, 36], "base": [3, 4, 5, 7, 12, 15, 16, 17, 21, 23, 24, 28, 29, 33, 35, 37, 40, 50, 51, 54, 55], "child": [3, 5, 13, 29, 35, 51], "finger_left": [3, 5], "lower": [3, 5, 29], "upper": [3, 5, 29], "actual": [3, 5, 8, 35, 51], "load": [3, 4, 5, 9, 15, 16, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 33, 36, 37], "appropri": [3, 5, 6, 45], "By": [3, 5, 9, 21, 29, 43, 45], "though": [3, 5, 21, 22], "extens": [3, 5], "via": [3, 4, 5, 17, 19, 26, 27, 29, 31, 46, 55], "between": [3, 4, 5, 6, 12, 13, 17, 29, 32, 34, 35, 43, 44, 45, 46, 51, 52], "filenam": [3, 5, 29], "libgazebo_ros2_control": 3, "so": [3, 4, 5, 8, 9, 15, 29, 33, 37, 46], "robot_param": [3, 5], "robot_descript": [3, 5, 9, 19, 29, 33], "robot_param_nod": [3, 5], "robot_state_publish": [3, 5, 21, 43], "config": [3, 5, 17], "cart_control": [3, 5], "yaml": [3, 4, 5, 6, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 46], "server": [3, 41, 46], "node": [3, 4, 5, 9, 11, 12, 14, 16, 19, 21, 23, 24, 25, 26, 27, 28, 29, 30, 31, 37, 51], "attempt": [3, 5, 9, 46], "get": [3, 5, 7, 8, 9, 11, 12, 15, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 45, 56], "most": [3, 5, 6, 15, 17, 21, 29, 37], "least": [3, 5, 13, 15, 37, 46], "jointstateinterfac": [3, 5], "effortjointinterfac": [3, 5], "velocityjointinterfac": [3, 5], "complex": [3, 4, 5, 6, 7, 8], "mechan": [3, 5, 8, 46], "nonlinear": [3, 5], "spring": [3, 5], "linkag": [3, 5, 19, 22, 30], "etc": [3, 5, 9, 25, 29, 33, 56], "These": [3, 4, 5, 17, 29, 35, 41, 51], "inherit": [3, 5, 9, 29], "gazebosysteminterfac": 3, "level": [3, 5, 6, 7, 9, 22, 23, 28, 38, 45, 47, 53], "properti": [3, 5, 29], "sub": [3, 5, 21], "class": [3, 4, 5, 7, 9, 12, 15, 16, 29, 37, 40, 45], "specifi": [3, 5, 9, 15, 17, 29, 33, 36, 37, 44, 45, 46], "For": [3, 4, 5, 6, 7, 8, 9, 12, 14, 15, 17, 18, 19, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 37, 44, 46, 50, 52], "insid": [3, 5, 14, 17, 19], "joint_state_broadcast": [3, 5, 13, 16, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 30, 31], "publish": [3, 5, 6, 8, 13, 17, 20, 21, 29, 33, 36, 39, 42, 43, 45, 48, 51, 56], "stateinterfac": [3, 5, 29], "topic": [3, 5, 6, 7, 8, 13, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 30, 31, 35, 36, 46, 51, 54], "sensor_msg": [3, 5, 42, 48], "msg": [3, 5, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 30, 31, 33, 35, 38, 39, 40, 42, 45, 46, 47, 48, 50, 53], "jointstat": [3, 5], "joint_trajectory_control": [3, 5, 6, 16, 19, 36, 44, 49], "follow_joint_trajectori": [3, 5, 46], "control_msg": [3, 5, 33, 44, 46, 50, 56], "followjointtrajectori": [3, 5, 44, 46], "controller_manag": [3, 4, 5, 6, 9, 16, 25, 36, 37, 38, 46, 47, 53], "ros__paramet": [3, 5, 33, 35, 38, 39, 41, 42, 43, 44, 46, 47, 48, 53], "update_r": [3, 5, 9, 36, 38, 47, 53], "100": [3, 4, 11, 13, 38, 47, 53], "hz": [3, 5, 35, 38, 41, 47, 53], "jointstatebroadcast": [3, 5, 16, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 30, 31], "contain": [3, 17, 18, 19, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 33, 35, 38, 39, 41, 42, 43, 44, 45, 47, 48, 50, 53], "content": [3, 15, 29, 37], "There": [3, 4, 5, 9, 12, 15, 17, 21, 23, 26, 27, 28, 37, 45, 46], "meter": [3, 5, 29], "cart_example_veloc": [3, 5], "cart_example_effort": [3, 5], "diff_driv": 3, "tricycle_dr": 3, "world": [3, 5, 9, 14, 21, 29, 33], "example_veloc": [3, 5], "example_effort": [3, 5], "example_diff_dr": [3, 5], "example_tricycle_dr": [3, 5], "parallel": [3, 4, 5, 13, 14], "gripper_mimic_joint_exampl": [3, 5], "send": [3, 5, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 45, 46], "example_gripp": [3, 5], "iron": [4, 17, 29], "bug": [4, 56], "want": [4, 8, 9, 17], "thrive": 4, "roll": [4, 29, 35, 51], "stack": [4, 7, 56], "earlier": [4, 6], "done": [4, 7, 8, 15, 19, 21, 23, 24, 25, 26, 27, 28, 29, 30, 33, 36, 37], "download": [4, 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11, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31], "hereund": 4, "rrbot": [4, 13, 16, 17, 20, 21, 23, 25, 26, 27, 28, 30], "effector": [4, 33], "site": 4, "rrbotsystempositiononli": [4, 27], "ros2_control_demo_hardwar": [4, 13, 16], "example_param_write_for_sec": 4, "example_param_read_for_sec": [4, 13], "joint1": [4, 13, 14, 16, 19, 20, 22, 23, 25, 26, 27, 28, 30, 31, 33, 46], "joint2": [4, 13, 16, 19, 20, 22, 23, 25, 26, 27, 28, 30, 31, 33, 46], "rrbotforcetorquesensor1d": 4, "forcetorquesensor1dhardwar": 4, "tcp_fts_sensor": [4, 13, 26, 27], "frame_id": [4, 13, 26, 27, 39, 42, 48, 50], "rrbot_tcp": 4, "min_forc": 4, "max_forc": 4, "rrbotgripp": 4, "positionactuatorhardwar": 4, "gripper_joint": 4, "instead": [4, 14, 20, 24, 29, 31, 33, 44], "pure": 4, "could": [4, 7, 8, 17, 25, 37, 43, 46], "altern": [4, 19, 46], "script": [4, 6, 15, 37], "skeleton": 4, "sim": [5, 16, 54], "dockerfil": [5, 17], "Then": [5, 8, 17, 29, 31, 45], "ign": 5, "meet": [5, 56], "prerequisit": 5, 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"Getting Started", "gz_ros2_control", "Project Ideas for GSoC 2024", "Resources", "Controller Chaining / Cascade Control", "Controller Manager", "ros2_control", "Different update rates for Hardware Components", "Hardware Components", "ros2_control hardware interface types", "Mock Components", "Writing a Hardware Component", "Command Line Interface", "Demos", "<no title>", "Example 1: RRBot", "Example 10: Industrial robot with GPIO interfaces", "CarlikeBot", "Example 12: Controller chaining with RRBot", "Example 14: Modular robot with actuators not providing states", "DiffBot", "Example 3: Robots with multiple interfaces", "Example 4: Industrial robot with integrated sensor", "Example 5: Industrial robot with externally connected sensor", "Example 6: Modular Robots with separate communication to each actuator", "Example 7: Full tutorial with a 6DOF robot", "Example 8: Industrial Robots with an exposed transmission interface", "Example 9: Simulation with RRBot", 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"result": [1, 4, 8, 9, 19, 29, 43, 45], "exactli": 1, "cowboi": 1, "style": [1, 15, 37], "over": [1, 6, 8, 24, 29], "weekend": 1, "It": [1, 2, 3, 4, 6, 8, 9, 19, 20, 22, 23, 25, 26, 27, 28, 29, 30, 31, 39, 43, 44, 45], "doesn": [1, 8], "matter": 1, "trivial": [1, 14], "chanc": 1, "proper": [1, 8, 9, 46], "Be": 1, "awar": 1, "impact": 1, "proport": [1, 44], "its": [1, 2, 3, 4, 5, 6, 7, 8, 9, 13, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 39, 40, 41, 42, 43, 44, 45, 48, 50, 51, 52], "ping": 1, "them": [1, 6, 8, 9, 15, 18, 19, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 37, 43, 45, 55], "necessari": [1, 8, 12], "repeatedli": 1, "sphinx": 1, "doc": [1, 8, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 30, 31, 56], "theme": 1, "gener": [1, 6, 7, 13, 15, 16, 21, 23, 24, 25, 26, 27, 28, 29, 36, 37, 46, 50, 56], "locat": [1, 3, 29, 33, 35, 39, 41, 42, 43, 44, 48], "control": [1, 7, 10, 11, 12, 13, 14, 15, 16, 17, 32, 34, 39, 42, 43, 44, 45, 48, 51, 52, 55, 56], "org": [1, 6, 11, 32, 34, 52], "while": [1, 4, 6, 7, 29, 33, 45], "packag": [1, 2, 3, 5, 12, 15, 29, 32, 33, 34, 35, 37, 38, 39, 42, 46, 47, 48, 50, 52, 53, 56], "written": [1, 15, 23, 28, 29, 37], "respect": [1, 3, 4, 5, 6, 7, 20, 44, 45, 46], "type": [1, 2, 3, 4, 5, 7, 8, 9, 10, 11, 12, 15, 16, 17, 20, 23, 24, 26, 27, 28, 29, 35, 36, 37, 38, 39, 42, 44, 47, 48, 50, 53], "stabl": [1, 4], "against": 1, "accept": [1, 15, 25, 37, 38, 44, 45, 46, 47, 53], "api": [1, 3, 5, 6, 15, 19, 21, 23, 24, 25, 26, 27, 28, 30], "abi": 1, "e": [1, 2, 4, 6, 7, 8, 9, 13, 14, 15, 17, 19, 20, 22, 23, 25, 26, 27, 28, 29, 30, 31, 33, 35, 37, 38, 39, 43, 44, 45, 47, 50, 51, 53, 56], "name": [1, 2, 3, 4, 5, 7, 9, 11, 13, 14, 15, 16, 17, 19, 20, 22, 23, 24, 26, 27, 28, 29, 31, 33, 35, 37, 39, 40, 42, 43, 44, 48, 50, 51], "convent": [1, 29], "master": [1, 4], "semi": 1, "binari": 1, "good": [1, 3, 5, 6, 35, 51], "same": [1, 8, 11, 25, 29, 36, 39, 44, 45, 46], "build": [1, 15, 29, 33, 37], "dai": 1, "ros_distro": [1, 4, 17, 19], "foxi": [1, 7, 15], "galact": [1, 12, 15], "releas": [1, 4, 7, 17, 29], "version": [1, 4, 6, 11, 17, 46], "non": [1, 7, 22, 29, 39], "brake": 1, "distribut": [1, 4, 17, 56], "three": [1, 2, 4, 12, 13, 17, 29, 37, 45, 52], "stage": [1, 8, 22], "current": [1, 6, 11, 12, 13, 15, 16, 45, 46, 50], "futur": [1, 4, 7, 8, 45, 46], "compat": [1, 2, 4, 7, 15, 17], "direct": [1, 2, 6, 15, 29, 37, 44], "local": [1, 3, 5, 18, 19, 21, 22, 23, 24, 25, 26, 27, 28, 30, 31, 43], "possibl": [1, 4, 6, 9, 13, 17, 19, 21, 23, 24, 25, 26, 27, 28, 30, 33, 37, 45], "core": [1, 10, 29], "immedi": [1, 9, 19, 22, 23, 25, 26, 27, 28, 29, 30, 31], "depend": [1, 4, 12, 13, 15, 17, 18, 19, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 36, 37, 45, 50], "fail": [1, 25, 29], "expect": [1, 6, 22, 29, 32, 34, 35, 46, 50, 51, 52], "after": [1, 8, 9, 15, 17, 19, 29, 35, 37, 44, 45, 46, 50, 51], "next": [1, 19, 29, 45], "sync": 1, "abl": 1, "potenti": [1, 37, 44], "mid": 1, "power": [1, 3, 5, 7, 15], "plausibl": 1, "analyt": 1, "robothw": 2, "rigid": 2, "ani": [2, 4, 7, 8, 9, 12, 13, 17, 22, 29, 37, 44, 46], "imposs": 2, "extend": [2, 4, 6, 8, 15, 37], "exist": [2, 4, 6, 8, 9, 12, 13, 15, 19, 21, 23, 24, 25, 26, 27, 28, 29, 30, 33, 37, 46], "addit": [2, 3, 5, 8, 17, 20, 24, 29], "sensor": [2, 4, 6, 12, 14, 15, 17, 23, 28, 29, 33, 36, 55], "actuat": [2, 4, 6, 12, 13, 14, 15, 17, 22, 51], "tool": [2, 3, 5, 6, 7, 29, 33], "without": [2, 3, 4, 5, 7, 9, 14, 15, 17, 22, 31, 37, 44, 45], "combinedrobothardwar": 2, "drawback": [2, 56], "solut": [2, 7], "optim": [2, 9], "combin": [2, 8, 13, 14, 17, 25, 43, 45, 46], "extern": [2, 4, 6, 8, 14, 17, 33], "defin": [2, 3, 5, 6, 9, 14, 15, 17, 29, 33, 37, 39, 42, 43, 44, 45, 46, 48, 50], "system": [2, 3, 4, 5, 6, 7, 11, 12, 13, 15, 16, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 44, 46, 54, 55, 56], "composit": [2, 7], "basic": [2, 3, 4, 5, 6, 7, 15, 17, 24, 37], "physic": [2, 4, 12, 13, 14], "cell": [2, 39], "surround": 2, "describ": [2, 4, 8, 13, 17, 19, 25, 29, 31, 35, 45], "multi": [2, 4, 6, 7, 17, 25], "gripper": [2, 3, 4, 5, 7, 13, 14, 36], "out": [2, 3, 5, 9, 29, 35], "box": [2, 17, 19, 21, 24, 25, 26, 27, 30, 31], "detail": [2, 3, 4, 5, 9, 12, 13, 14, 15, 22, 29, 31, 32, 34, 35, 37, 45, 46, 52], "allow": [2, 3, 4, 5, 17, 29, 41, 44, 45, 46, 49], "joint": [2, 4, 7, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 40, 41, 43, 44, 45, 47, 50, 51, 52, 53, 56], "posit": [2, 3, 4, 5, 7, 9, 13, 16, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 33, 35, 36, 38, 43, 44, 45, 46, 47, 50, 53], "veloc": [2, 3, 4, 5, 7, 8, 17, 21, 23, 24, 25, 29, 33, 34, 35, 36, 41, 42, 43, 44, 45, 46, 47, 50, 53], "effort": [2, 3, 5, 17, 29, 36, 38, 41, 43, 44, 46], "hard": [2, 9], "data": [2, 4, 6, 14, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 35, 36, 43, 45, 51], "approach": [2, 8, 11], "doe": [2, 8, 9, 15, 19, 21, 23, 24, 25, 26, 27, 28, 29, 30, 37, 45, 46], "enforc": [2, 25, 29], "string": [2, 9, 14, 17, 33, 35, 37, 39, 40, 41, 42, 43, 44, 48, 50, 51], "ensur": [2, 7, 9, 29, 45], "constant": [2, 17], "hardware_interfac": [2, 3, 4, 5, 11, 12, 14, 15, 17, 23, 26, 27, 28, 29, 33, 35, 36, 37], "In": [2, 3, 4, 5, 6, 7, 8, 11, 15, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 36, 37, 43, 45, 50], "had": 2, "itself": [2, 8], "took": 2, "care": [2, 6, 9, 15, 25, 37, 46], "regist": [2, 3, 5], "resourc": [2, 3, 5, 15, 25], "conflict": [2, 4, 6], "resourcemanag": [2, 8], "take": [2, 6, 8, 15, 22, 25, 35, 37, 43, 45], "state": [2, 3, 4, 5, 6, 7, 9, 11, 12, 13, 14, 15, 16, 17, 19, 20, 21, 22, 24, 25, 26, 27, 28, 29, 30, 31, 36, 37, 39, 43, 44], "avail": [2, 4, 7, 16, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 37, 43, 46], "enabl": [2, 4, 6, 7, 12, 15, 16, 17, 24, 33, 35, 39, 50], "anymor": 2, "controllermanag": [2, 9], "implement": [2, 3, 4, 5, 6, 7, 9, 11, 13, 14, 15, 17, 19, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 32, 33, 34, 35, 37, 40, 45, 46, 50, 51, 52, 56], "systeminterfac": [2, 3, 5, 11, 14, 26, 29], "granular": 2, "sensorinterfac": [2, 23, 27], "actuatorinterfac": [2, 23, 28], "abov": [2, 19, 20, 22, 23, 24, 25, 26, 27, 28, 30, 31, 36, 45], "choos": [2, 4, 17, 50], "suitabl": [2, 7], "strategi": [2, 17, 45], "decid": [2, 11], "which": [2, 3, 4, 5, 6, 7, 9, 11, 15, 16, 17, 19, 21, 24, 25, 26, 27, 28, 29, 30, 31, 33, 35, 36, 37, 39, 42, 43, 44, 45, 46, 48, 50, 51], "case": [2, 3, 5, 6, 7, 8, 17, 22, 29, 37, 43, 45, 46, 56], "mayb": [2, 8], "sens": [2, 4, 36, 39], "multipl": [2, 4, 7, 8, 13, 15, 17, 43], "constructor": [2, 15, 29, 37], "initi": [2, 15, 20, 29, 37, 45], "variabl": [2, 11, 15, 29, 37, 44], "need": [2, 3, 4, 5, 6, 7, 8, 13, 15, 17, 19, 21, 23, 24, 25, 26, 27, 28, 29, 30, 33, 36, 37, 45], "commun": [2, 4, 6, 7, 11, 15, 17, 19, 21, 23, 24, 25, 26, 27, 29, 30], "default": [2, 4, 8, 9, 14, 21, 25, 32, 33, 34, 35, 39, 40, 41, 42, 43, 44, 45, 46, 48, 50, 51, 52], "configur": [2, 3, 4, 5, 6, 7, 8, 9, 12, 14, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 37, 43, 44, 45, 46, 50], "paramet": [2, 3, 5, 7, 11, 15, 17, 19, 20, 24, 29, 37, 46], "pars": [2, 3, 5, 9, 10, 13], "urdf": [2, 7, 9, 11, 13, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 30, 31, 33], "snippet": 2, "hardwareinfo": [2, 11, 29], "here": [2, 10, 15, 29, 37, 38, 46, 47, 53], "cross": [2, 43], "valu": [2, 4, 6, 11, 13, 14, 15, 17, 19, 20, 22, 24, 26, 27, 29, 31, 33, 35, 37, 39, 42, 43, 44, 46, 48, 50, 51], "export_": 2, "_interfac": [2, 15], "joint_a2": 2, "extract": [2, 35, 51], "sensibl": 2, "start": [2, 3, 5, 7, 8, 9, 12, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 35, 37, 44, 45, 51, 56], "stop": [2, 7, 8, 9, 12, 16, 19, 20, 24, 25, 29, 35, 44, 51], "usual": [2, 4, 9, 14, 15, 29, 33, 37], "includ": [2, 3, 5, 6, 12, 15, 16, 21, 29, 33, 37, 46, 51, 55], "command": [2, 3, 4, 5, 6, 7, 9, 10, 13, 14, 15, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 34, 35, 36, 37, 38, 40, 41, 44, 45, 47, 49, 52, 53, 56], "safe": [2, 29, 35, 37, 46, 51], "interrupt": [2, 9], "stream": [2, 7], "write": [2, 4, 7, 8, 9, 10, 11, 20, 22, 23, 24, 28, 33, 36], "exchang": [2, 6, 19, 21, 23, 24, 25, 26, 27, 28, 30, 56], "equival": [2, 29], "forget": [2, 4, 17, 46], "pluginlib_export_class": [2, 15, 17, 29, 37], "macro": [2, 4, 11, 15, 17, 29, 37], "end": [2, 4, 12, 15, 29, 33, 37, 44], "cpp": [2, 15, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 37], "file": [2, 3, 4, 5, 6, 7, 9, 11, 14, 15, 17, 33, 35, 37, 38, 39, 46, 47, 53], "creat": [2, 3, 4, 5, 7, 9, 14, 15, 17, 21, 29, 37], "xml": [2, 3, 5, 11, 12, 15, 29, 37], "librari": [2, 4, 15, 16, 21, 32, 34, 36, 37, 50, 52], "pluginlib": [2, 3, 4, 5, 9, 15, 29, 37], "exampl": [2, 3, 4, 5, 6, 7, 8, 9, 14, 16, 21, 24, 33, 35, 38, 39, 46, 47, 51, 53, 56], "rrbotsystempositiononlyhardwar": [2, 4, 13, 16, 19, 22, 27], "excel": 2, "jointtrajectorycontrol": [2, 3, 5, 16, 19, 33, 46], "real": [2, 6, 7, 9, 14, 20, 24, 37, 43, 44, 56], "critic": [2, 6], "mark": [2, 22], "controllerinterfac": [2, 4, 8, 16, 29, 37], "member": [2, 15, 29, 37, 45], "init": 2, "call": [2, 3, 4, 5, 8, 11, 15, 20, 24, 29, 37], "lifecycl": [2, 4, 7, 9, 12, 15, 29, 36], "declar": [2, 11, 15, 29, 37], "state_interface_configur": [2, 29, 37], "command_interface_configur": [2, 29, 37], "design": [2, 4, 6, 7, 8, 21, 29, 56], "updat": [2, 4, 8, 9, 10, 12, 17, 21, 29, 33, 36, 37, 46, 50], "manag": [2, 3, 5, 6, 7, 10, 12, 15, 16, 17, 29, 37, 46, 56], "option": [2, 3, 4, 5, 9, 12, 14, 15, 16, 19, 20, 25, 33, 35, 36, 37, 39, 43, 46, 50], "on_configur": [2, 15, 29, 37], "on_activ": [2, 11, 12, 15, 29, 37], "on_deactiv": [2, 12, 15, 29, 37], "deactiv": [2, 4, 16, 19, 44], "final": [2, 7, 12, 29], "joint_trajectory_plugin": 2, "integr": [3, 4, 5, 6, 7, 14, 17, 22, 24, 29, 44, 45, 46, 51, 56], "architectur": [3, 5, 6, 7], "gazebo": [3, 5, 6, 17, 19, 31, 54], "classic": [3, 17, 31, 54], "instanti": [3, 5, 9], "connect": [3, 4, 5, 14, 17, 26, 29], "model": [3, 5, 19, 21, 29], "cd": [3, 4, 5, 17, 29], "docker": [3, 5, 18, 19, 21, 22, 23, 24, 25, 26, 27, 28, 30, 31], "gui": [3, 5, 17, 19, 22, 23, 25, 26, 27, 28, 30, 31, 49], "properli": [3, 5, 8, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31], "rm": [3, 4, 5, 17, 19, 31], "net": [3, 5, 7, 17, 19, 31], "host": [3, 5, 17, 19, 31, 55], "ros2": [3, 4, 5, 7, 9, 15, 16, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 37], "launch": [3, 4, 5, 9, 14, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 30, 31], "cart_example_posit": [3, 5], "py": [3, 5, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31], "fals": [3, 5, 11, 14, 17, 19, 21, 31, 33, 35, 41, 43, 44, 46, 50, 51], "machin": [3, 4, 5, 6, 17, 31], "client": [3, 5, 31, 46], "gzclient": [3, 31], "rocker": [3, 5], "go": [3, 5, 7, 9, 15, 29, 37], "imag": [3, 5, 9, 31], "inject": [3, 5, 7], "nvidia": [3, 5], "And": 3, "user": [3, 5, 6, 9, 17, 29, 45], "id": [3, 5, 16, 19, 20, 21, 23, 24, 25, 26, 27, 28, 30, 33, 35], "specif": [3, 5, 6, 8, 9, 11, 12, 13, 29, 31, 40, 43, 45, 46], "cleaner": [3, 5], "mount": [3, 5], "permiss": [3, 5, 9], "instal": [3, 5, 9, 15, 18, 19, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 37], "instruct": [3, 5, 24, 29, 31], "x11": [3, 5], "latest": [3, 4, 5], "move": [3, 5, 17, 19, 21, 22, 23, 24, 25, 26, 27, 28, 30, 31, 35, 41, 51], "cart": [3, 5], "rail": [3, 5], "exec": [3, 5, 19], "bash": [3, 4, 5, 15, 17, 19, 29, 37], "home": [3, 5], "ros2_w": [3, 4, 5, 17], "example_posit": [3, 5], "element": [3, 5, 29, 33, 44], "access": [3, 4, 5, 7, 9, 14, 19, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 37, 43], "interfac": [3, 5, 6, 7, 8, 9, 10, 12, 14, 15, 17, 19, 21, 22, 23, 24, 26, 27, 28, 31, 32, 34, 36, 37, 39, 42, 44, 45, 48, 52, 54, 55, 56], "gazebosystem": 3, "hardwar": [3, 5, 7, 8, 10, 14, 16, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 30, 31, 35, 36, 37, 44, 51, 56], "slider_to_cart": [3, 5, 38, 47, 53], "command_interfac": [3, 4, 5, 13, 20, 22, 29, 33, 44, 46], "param": [3, 4, 5, 9, 11, 13, 14, 20, 24, 29], "min": [3, 4, 5, 13, 29], "1000": [3, 5, 29], "state_interfac": [3, 4, 5, 13, 20, 29, 33, 44, 46], "initial_valu": [3, 5, 20, 29], "mimick": [3, 5, 14], "manual": [3, 4, 5, 6, 9, 15, 17, 19, 25, 26, 27, 28, 30, 31, 37, 56], "multipli": [3, 5, 14], "definit": [3, 4, 5, 9, 15, 29, 33, 35, 36, 37, 39, 41, 42, 43, 44, 48], "left_finger_joint": [3, 5], "prismat": [3, 5], "right_finger_joint": [3, 5], "axi": [3, 5, 6, 29, 32, 34, 35, 39, 52], "xyz": [3, 5, 29], "rpy": [3, 5, 29], "1415926535": [3, 5], "parent": [3, 5, 15, 29, 35, 37, 51], "link": [3, 4, 5, 7, 8, 12, 29, 33, 36], "base": [3, 4, 5, 7, 12, 15, 16, 17, 21, 23, 24, 28, 29, 33, 35, 37, 40, 50, 51, 54, 55], "child": [3, 5, 13, 29, 35, 51], "finger_left": [3, 5], "lower": [3, 5, 29], "upper": [3, 5, 29], "actual": [3, 5, 8, 35, 51], "load": [3, 4, 5, 9, 15, 16, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 33, 36, 37], "appropri": [3, 5, 6, 45], "By": [3, 5, 9, 21, 29, 43, 45], "though": [3, 5, 21, 22], "extens": [3, 5], "via": [3, 4, 5, 17, 19, 26, 27, 29, 31, 46, 55], "between": [3, 4, 5, 6, 12, 13, 17, 29, 32, 34, 35, 43, 44, 45, 46, 51, 52], "filenam": [3, 5, 29], "libgazebo_ros2_control": 3, "so": [3, 4, 5, 8, 9, 15, 29, 33, 37, 46], "robot_param": [3, 5], "robot_descript": [3, 5, 9, 19, 29, 33], "robot_param_nod": [3, 5], "robot_state_publish": [3, 5, 21, 43], "config": [3, 5, 17], "cart_control": [3, 5], "yaml": [3, 4, 5, 6, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 46], "server": [3, 41, 46], "node": [3, 4, 5, 9, 11, 12, 14, 16, 19, 21, 23, 24, 25, 26, 27, 28, 29, 30, 31, 37, 51], "attempt": [3, 5, 9, 46], "get": [3, 5, 7, 8, 9, 11, 12, 15, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 45, 56], "most": [3, 5, 6, 15, 17, 21, 29, 37], "least": [3, 5, 13, 15, 37, 46], "jointstateinterfac": [3, 5], "effortjointinterfac": [3, 5], "velocityjointinterfac": [3, 5], "complex": [3, 4, 5, 6, 7, 8], "mechan": [3, 5, 8, 46], "nonlinear": [3, 5], "spring": [3, 5], "linkag": [3, 5, 19, 22, 30], "etc": [3, 5, 9, 25, 29, 33, 56], "These": [3, 4, 5, 17, 29, 35, 41, 51], "inherit": [3, 5, 9, 29], "gazebosysteminterfac": 3, "level": [3, 5, 6, 7, 9, 22, 23, 28, 38, 45, 47, 53], "properti": [3, 5, 29], "sub": [3, 5, 21], "class": [3, 4, 5, 7, 9, 12, 15, 16, 29, 37, 40, 45], "specifi": [3, 5, 9, 15, 17, 29, 33, 36, 37, 44, 45, 46], "For": [3, 4, 5, 6, 7, 8, 9, 12, 14, 15, 17, 18, 19, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 37, 44, 46, 50, 52], "insid": [3, 5, 14, 17, 19], "joint_state_broadcast": [3, 5, 13, 16, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 30, 31], "publish": [3, 5, 6, 8, 13, 17, 20, 21, 29, 33, 36, 39, 42, 43, 45, 48, 51, 56], "stateinterfac": [3, 5, 29], "topic": [3, 5, 6, 7, 8, 13, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 30, 31, 35, 36, 46, 51, 54], "sensor_msg": [3, 5, 42, 48], "msg": [3, 5, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 30, 31, 33, 35, 38, 39, 40, 42, 45, 46, 47, 48, 50, 53], "jointstat": [3, 5], "joint_trajectory_control": [3, 5, 6, 16, 19, 36, 44, 49], "follow_joint_trajectori": [3, 5, 46], "control_msg": [3, 5, 33, 44, 46, 50, 56], "followjointtrajectori": [3, 5, 44, 46], "controller_manag": [3, 4, 5, 6, 9, 16, 25, 36, 37, 38, 46, 47, 53], "ros__paramet": [3, 5, 33, 35, 38, 39, 41, 42, 43, 44, 46, 47, 48, 53], "update_r": [3, 5, 9, 36, 38, 47, 53], "100": [3, 4, 11, 13, 38, 47, 53], "hz": [3, 5, 35, 38, 41, 47, 53], "jointstatebroadcast": [3, 5, 16, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 30, 31], "contain": [3, 17, 18, 19, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 33, 35, 38, 39, 41, 42, 43, 44, 45, 47, 48, 50, 53], "content": [3, 15, 29, 37], "There": [3, 4, 5, 9, 12, 15, 17, 21, 23, 26, 27, 28, 37, 45, 46], "meter": [3, 5, 29], "cart_example_veloc": [3, 5], "cart_example_effort": [3, 5], "diff_driv": 3, "tricycle_dr": 3, "world": [3, 5, 9, 14, 21, 29, 33], "example_veloc": [3, 5], "example_effort": [3, 5], "example_diff_dr": [3, 5], "example_tricycle_dr": [3, 5], "parallel": [3, 4, 5, 13, 14], "gripper_mimic_joint_exampl": [3, 5], "send": [3, 5, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 45, 46], "example_gripp": [3, 5], "iron": [4, 17, 29], "bug": [4, 56], "want": [4, 8, 9, 17], "thrive": 4, "roll": [4, 29, 35, 51], "stack": [4, 7, 56], "earlier": [4, 6], "done": [4, 7, 8, 15, 19, 21, 23, 24, 25, 26, 27, 28, 29, 30, 33, 36, 37], "download": [4, 17], "repositori": [4, 6, 10, 13, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 30, 31, 33, 35, 36], "mkdir": [4, 17], "p": [4, 9, 17, 44], "src": [4, 15, 17, 19, 29, 31, 33, 35, 37, 39, 41, 42, 43, 44, 48], "wget": 4, "raw": 4, "githubusercont": 4, "com": [4, 6, 17, 29], "ros2_control_ci": 4, "ros_control": [4, 6, 7, 56], "vc": [4, 17], "import": [4, 15, 17, 29, 37, 44], "rosdep": [4, 17], "rosdistro": [4, 17], "sudo": [4, 9, 17], "apt": [4, 17], "path": [4, 7, 17, 29, 46], "ignor": [4, 9, 17, 35, 44, 50, 51], "r": [4, 17, 30], "y": [4, 17, 21, 24, 26, 27, 33, 39, 42], "everyth": [4, 15, 17, 19, 21, 22, 23, 24, 25, 26, 27, 28, 30, 31, 37], "opt": [4, 17, 19], "setup": [4, 14, 15, 17, 19, 24, 29, 31, 37, 45], "sh": [4, 17, 19, 31], "colcon": [4, 15, 17, 29, 37], "symlink": [4, 17, 29], "folder": [4, 7, 15, 17, 19, 20, 21, 24, 32, 33, 34, 35, 37, 39, 41, 42, 43, 44, 48, 50, 52], "found": [4, 9, 10, 15, 19, 20, 21, 24, 33, 35, 37, 39, 40, 42, 46, 48, 56], "figur": [4, 45], "uml": 4, "diagram": [4, 16], "intern": [4, 6, 8, 11, 13, 15, 19, 21, 22, 23, 24, 25, 26, 27, 28, 30, 33, 45, 46], "cm": [4, 9], "abstract": [4, 7, 12, 29], "side": [4, 6, 7, 35], "entri": [4, 37], "point": [4, 29, 33, 37, 44, 45, 46, 56], "servic": [4, 6, 9, 12, 29, 36], "executor": [4, 9], "custom": [4, 13, 14, 17, 20, 23, 24, 39, 43, 44, 54], "howev": [4, 6, 8, 9, 17, 22, 29], "recommend": [4, 7, 15], "ros2_control_nod": [4, 25, 29], "assum": [4, 8, 33], "On": [4, 29], "hand": [4, 29, 55], "unload": [4, 9, 16], "match": [4, 17, 45], "report": [4, 6, 43, 56], "error": [4, 6, 9, 11, 15, 22, 25, 29, 33, 37, 43, 44, 46], "execut": [4, 11, 15, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 34, 37, 41, 44, 45, 46, 52], "loop": [4, 7, 9, 14, 19, 25, 26, 27, 28, 29, 30, 31, 37, 43, 44, 46, 50], "output": [4, 6, 7, 13, 16, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 33, 51], "driver": [4, 7, 17, 29, 55], "reus": [4, 7, 8], "flexibl": 4, "motor": [4, 8, 55], "encod": [4, 29, 35, 51], "theori": [4, 56], "compar": [4, 6, 7], "refer": [4, 8, 21, 22, 29, 55], "measur": [4, 14, 23, 33, 39, 43, 44, 55], "calcul": [4, 21, 29, 33, 35, 45, 50, 51], "input": [4, 6, 7, 8, 13, 20, 22, 29, 33, 35, 38, 40, 44, 45, 47, 50, 51, 53], "object": [4, 29], "deriv": [4, 44, 45], "controller_interfac": [4, 16, 29, 33, 37, 39, 42, 48], "export": [4, 8, 9, 15, 17, 29, 33, 37], "plugin": [4, 9, 11, 12, 13, 15, 16, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 30, 31, 33, 37, 49], "forwardcommandcontrol": [4, 19, 20, 22, 23, 25, 26, 27, 28, 30, 31], "lifecyclenod": 4, "document": [4, 6, 7, 13, 14, 15, 17, 24, 36, 45, 46], "list": [4, 7, 8, 9, 12, 15, 16, 22, 29, 37, 39, 54, 55, 56], "srv": [4, 46], "controller_manager_msg": 4, "directli": [4, 19, 22, 31, 56], "friendli": 4, "cli": [4, 9, 10, 16, 19, 20, 21, 24, 25, 26, 27, 28, 30, 31], "auto": [4, 9], "complet": [4, 12, 22, 29, 45], "rang": [4, 13, 36], "common": [4, 6, 17, 43, 56], "capabl": [4, 6], "realiz": [4, 7, 45, 46], "repres": [4, 12, 29, 35, 36, 45], "dynam": [4, 15, 21, 29, 33, 37, 54], "dof": [4, 13, 17, 29, 41], "differ": [4, 6, 7, 10, 12, 13, 15, 17, 19, 20, 24, 25, 29, 35, 38, 39, 43, 45, 47, 50, 53], "transmiss": [4, 17], "humanoid": 4, "logic": 4, "channel": [4, 55], "kuka": [4, 19, 25, 26, 27, 55], "rsi": [4, 19, 26, 27, 55], "relat": [4, 6, 7], "forc": [4, 7, 13, 16, 26, 27, 33, 36, 55], "torqu": [4, 13, 26, 27, 33, 36], "simpl": [4, 6, 7, 8, 15, 17, 19, 21, 22, 24, 29, 30, 37, 41], "valv": [4, 13], "mandatori": [4, 9], "dc": 4, "arduino": [4, 23, 28], "board": 4, "modular": [4, 7, 17, 29], "independ": [4, 7, 27], "explan": [4, 9, 15], "given": [4, 9, 18, 19, 21, 22, 23, 24, 25, 26, 27, 28, 30, 38, 45, 46, 47, 53], "through": [4, 6, 7, 8, 9, 15, 16, 17, 22, 29, 37, 46, 56], "tag": [4, 9, 13, 15, 17, 19, 20, 21, 22, 23, 24, 25, 26, 28, 29, 30, 31, 37, 56], "chosen": [4, 13], "structur": [4, 6, 8, 9, 15, 29, 35, 37, 44, 45], "track": [4, 32, 52, 56], "togeth": [4, 8, 13, 24, 26, 50], "xacro": [4, 9, 11, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31], "hereund": 4, "rrbot": [4, 13, 16, 17, 20, 21, 23, 25, 26, 27, 28, 30], "effector": [4, 33], "site": 4, "rrbotsystempositiononli": [4, 27], "ros2_control_demo_hardwar": [4, 13, 16], "example_param_write_for_sec": 4, "example_param_read_for_sec": [4, 13], "joint1": [4, 13, 14, 16, 19, 20, 22, 23, 25, 26, 27, 28, 30, 31, 33, 46], "joint2": [4, 13, 16, 19, 20, 22, 23, 25, 26, 27, 28, 30, 31, 33, 46], "rrbotforcetorquesensor1d": 4, "forcetorquesensor1dhardwar": 4, "tcp_fts_sensor": [4, 13, 26, 27], "frame_id": [4, 13, 26, 27, 39, 42, 48, 50], "rrbot_tcp": 4, "min_forc": 4, "max_forc": 4, "rrbotgripp": 4, 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"migration-guide-to-ros2-control"]], "RobotHardware to Components": [[2, "robothardware-to-components"]], "Controller Migration": [[2, "controller-migration"]], "gazebo_ros2_control": [[3, "gazebo-ros2-control"]], "Usage": [[3, "usage"], [5, "usage"]], "Modifying or building your own": [[3, "modifying-or-building-your-own"], [5, "modifying-or-building-your-own"]], "To run the demo": [[3, "to-run-the-demo"], [5, "to-run-the-demo"]], "Add ros2_control tag to a URDF": [[3, "add-ros2-control-tag-to-a-urdf"], [5, "add-ros2-control-tag-to-a-urdf"]], "Simple setup": [[3, "simple-setup"], [5, "simple-setup"]], "Using mimic joints in simulation": [[3, "using-mimic-joints-in-simulation"], [5, "using-mimic-joints-in-simulation"]], "Add the gazebo_ros2_control plugin": [[3, "add-the-gazebo-ros2-control-plugin"]], "Default gazebo_ros2_control Behavior": [[3, "default-gazebo-ros2-control-behavior"]], "Advanced: custom gazebo_ros2_control Simulation Plugins": [[3, "advanced-custom-gazebo-ros2-control-simulation-plugins"]], "Set up controllers": [[3, "set-up-controllers"], [5, "set-up-controllers"]], "gazebo_ros2_control_demos": [[3, "gazebo-ros2-control-demos"]], "Getting Started": [[4, "getting-started"]], "Installation": [[4, "installation"], [17, "installation"]], "Binary packages": [[4, "binary-packages"]], "Building from Source": [[4, "building-from-source"]], "Architecture": [[4, "architecture"]], "Controller Manager": [[4, "controller-manager"], [9, "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"]], "2023-02 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"]], "Controller Chaining / Cascade Control": [[8, "controller-chaining-cascade-control"]], "Scope of the Document and Background Knowledge": [[8, "scope-of-the-document-and-background-knowledge"]], "Motivation, Purpose and Use": [[8, "motivation-purpose-and-use"]], "Implementation": [[8, "implementation"]], "A Controller Base-Class: ChainableController": [[8, "a-controller-base-class-chainablecontroller"]], "Inner Resource Management": [[8, "inner-resource-management"]], "Activation and Deactivation Chained Controllers": [[8, "activation-and-deactivation-chained-controllers"]], "Debugging outputs": [[8, "debugging-outputs"]], "Closing remarks": [[8, "closing-remarks"]], "Determinism": [[9, "determinism"]], "Parameters": [[9, "parameters"], [14, "parameters"], [32, "parameters"], [33, "parameters"], [34, "parameters"], [35, "parameters"], [38, "parameters"], [39, "parameters"], [40, "parameters"], [41, "parameters"], [42, "parameters"], [43, "parameters"], [47, "parameters"], [48, "parameters"], [50, "parameters"], [51, "parameters"], [52, "parameters"], [53, "parameters"]], "Helper scripts": [[9, "helper-scripts"]], "spawner": [[9, "spawner"]], "unspawner": [[9, "unspawner"]], "Using the Controller Manager in a Process": [[9, "using-the-controller-manager-in-a-process"]], "Concepts": [[9, "concepts"], [10, "concepts"]], "Restarting all controllers": [[9, "restarting-all-controllers"]], "Restarting hardware": [[9, "restarting-hardware"]], "ros2_control": [[10, "ros2-control"]], "API Documentation": [[10, "api-documentation"]], "Features": [[10, "features"]], "Different update rates for Hardware Components": [[11, "different-update-rates-for-hardware-components"]], "By counting loops": [[11, "by-counting-loops"]], "By measuring elapsed time": [[11, "by-measuring-elapsed-time"]], "Guidelines and Best Practices": [[12, "guidelines-and-best-practices"], [36, "guidelines-and-best-practices"]], "Handling of errors that happen during read() and write() calls": [[12, "handling-of-errors-that-happen-during-read-and-write-calls"]], "Migration from Foxy to newer versions": [[12, "migration-from-foxy-to-newer-versions"]], "ros2_control hardware interface types": [[13, "ros2-control-hardware-interface-types"]], "Joints": [[13, "joints"]], "Sensors": [[13, "sensors"]], "GPIOs": [[13, "gpios"]], "Examples": [[13, "examples"], [17, "examples"]], "Mock Components": [[14, "mock-components"]], "Generic System": [[14, "generic-system"]], "Per-joint Parameters": [[14, "per-joint-parameters"]], "Writing a Hardware Component": [[15, "writing-a-hardware-component"]], "Useful External References": [[15, "useful-external-references"], [37, "useful-external-references"]], "Command Line Interface": [[16, "command-line-interface"]], "list_controllers": [[16, "list-controllers"]], "list_controller_types": [[16, "list-controller-types"]], "list_hardware_components": [[16, "list-hardware-components"]], "list_hardware_interfaces": [[16, "list-hardware-interfaces"]], "load_controller": [[16, "load-controller"]], "reload_controller_libraries": [[16, "reload-controller-libraries"]], "set_controller_state": [[16, "set-controller-state"]], "set_hardware_component_state": [[16, "set-hardware-component-state"]], "switch_controllers": [[16, "switch-controllers"]], "unload_controller": [[16, "unload-controller"]], "view_controller_chains": [[16, "view-controller-chains"]], "Demos": [[17, "demos"]], "What you can find in this repository": [[17, "what-you-can-find-in-this-repository"]], "Goals": [[17, "goals"]], "Examples Overview": [[17, "examples-overview"]], "Local installation": [[17, "local-installation"]], "Build from debian packages": [[17, "build-from-debian-packages"]], "Build from source": [[17, "build-from-source"]], "Using Docker": [[17, "using-docker"]], "To view the robot": [[17, "to-view-the-robot"]], "To run the ros2_control demos": [[17, "to-run-the-ros2-control-demos"]], "Quick Hints": [[17, "quick-hints"]], "Example 1: RRBot": [[19, "example-1-rrbot"]], "Tutorial steps": [[19, "tutorial-steps"], [21, "tutorial-steps"], [22, "tutorial-steps"], [23, "tutorial-steps"], [24, "tutorial-steps"], [25, "tutorial-steps"], [26, "tutorial-steps"], [27, "tutorial-steps"], [28, "tutorial-steps"], [30, "tutorial-steps"], [31, "tutorial-steps"]], "Files used for this demos": [[19, "files-used-for-this-demos"], [20, "files-used-for-this-demos"], [21, "files-used-for-this-demos"], [22, "files-used-for-this-demos"], [23, "files-used-for-this-demos"], [24, "files-used-for-this-demos"], [25, "files-used-for-this-demos"], [27, "files-used-for-this-demos"], [28, "files-used-for-this-demos"], [30, "files-used-for-this-demos"], [31, "files-used-for-this-demos"]], "Controllers from this demo": [[19, "controllers-from-this-demo"], [20, "controllers-from-this-demo"], [21, "controllers-from-this-demo"], [22, "controllers-from-this-demo"], [23, "controllers-from-this-demo"], [24, "controllers-from-this-demo"], [25, "controllers-from-this-demo"], [26, "controllers-from-this-demo"], [27, "controllers-from-this-demo"], [28, "controllers-from-this-demo"], [30, "controllers-from-this-demo"], [31, "controllers-from-this-demo"]], "Example 10: Industrial robot with GPIO interfaces": [[20, "example-10-industrial-robot-with-gpio-interfaces"]], "CarlikeBot": [[21, "carlikebot"]], "Example 12: Controller chaining with RRBot": [[22, "example-12-controller-chaining-with-rrbot"]], "Example 14: Modular robot with actuators not providing states": [[23, "example-14-modular-robot-with-actuators-not-providing-states"]], "DiffBot": [[24, "diffbot"]], "Example 3: Robots with multiple interfaces": [[25, "example-3-robots-with-multiple-interfaces"]], "Example 4: Industrial robot with integrated sensor": [[26, "example-4-industrial-robot-with-integrated-sensor"]], "Files used for this demo": [[26, "files-used-for-this-demo"]], "Example 5: Industrial robot with externally connected sensor": [[27, "example-5-industrial-robot-with-externally-connected-sensor"]], "Example 6: Modular Robots with separate communication to each actuator": [[28, "example-6-modular-robots-with-separate-communication-to-each-actuator"]], "Example 7: Full tutorial with a 6DOF robot": [[29, "example-7-full-tutorial-with-a-6dof-robot"]], "ros2_control overview": [[29, "ros2-control-overview"]], "Writing a URDF": [[29, "writing-a-urdf"]], "Geometry": [[29, "geometry"]], "URDF file": [[29, "urdf-file"]], "Writing a hardware interface": [[29, "writing-a-hardware-interface"]], "Plugin description file (hardware)": [[29, "plugin-description-file-hardware"]], "CMake library (hardware)": [[29, "cmake-library-hardware"]], "Writing a controller": [[29, "writing-a-controller"]], "Plugin description file (controller)": [[29, "plugin-description-file-controller"]], "CMake library (controller)": [[29, "cmake-library-controller"]], "Launching the example": [[29, "launching-the-example"]], "Example 8: Industrial Robots with an exposed transmission interface": [[30, "example-8-industrial-robots-with-an-exposed-transmission-interface"]], "Example 9: Simulation with RRBot": [[31, "example-9-simulation-with-rrbot"]], "ackermann_steering_controller": [[32, "ackermann-steering-controller"]], "Admittance Controller": [[33, "admittance-controller"]], "ROS 2 interface of the controller": [[33, "ros-2-interface-of-the-controller"], [38, "ros-2-interface-of-the-controller"], [40, "ros-2-interface-of-the-controller"], [47, "ros-2-interface-of-the-controller"], [53, "ros-2-interface-of-the-controller"]], "Topics": [[33, "topics"], [38, "topics"], [40, "topics"], [47, "topics"], [53, "topics"]], "ros2_control interfaces": [[33, "ros2-control-interfaces"]], "References": [[33, "references"], [35, "references"], [46, "references"]], "States": [[33, "states"], [46, "states"], [50, "states"]], "Commands": [[33, "commands"], [43, "commands"], [46, "commands"], [50, "commands"]], "bicycle_steering_controller": [[34, "bicycle-steering-controller"]], "diff_drive_controller": [[35, "diff-drive-controller"]], "Other features": [[35, "other-features"], [46, "other-features"], [51, "other-features"]], "Description of controller\u2019s interfaces": [[35, "description-of-controller-s-interfaces"], [46, "description-of-controller-s-interfaces"], [50, "description-of-controller-s-interfaces"]], "Feedback": [[35, "feedback"]], "Output": [[35, "output"]], "ROS 2 Interfaces": [[35, "ros-2-interfaces"]], "Subscribers": [[35, "subscribers"], [50, "subscribers"]], "Publishers": [[35, "publishers"], [46, "publishers"], [50, "publishers"]], "ros2_controllers": [[36, "ros2-controllers"]], "Controllers for Mobile Robots": [[36, "controllers-for-mobile-robots"]], "Controllers for Manipulators and Other Robots": [[36, "controllers-for-manipulators-and-other-robots"]], "Broadcasters": [[36, "broadcasters"]], "Common Controller Parameters": [[36, "common-controller-parameters"]], "Writing a new controller": [[37, "writing-a-new-controller"]], "effort_controllers": [[38, "effort-controllers"]], "effort_controllers/JointGroupEffortController": [[38, "effort-controllers-jointgroupeffortcontroller"]], "Force Torque Sensor Broadcaster": [[39, "force-torque-sensor-broadcaster"]], "forward_command_controller": [[40, "forward-command-controller"]], "Hardware interface type": [[40, "hardware-interface-type"], [43, "hardware-interface-type"]], "Gripper Action Controller": [[41, "gripper-action-controller"]], "List of parameters": [[41, "list-of-parameters"], [42, "list-of-parameters"], [43, "list-of-parameters"], [44, "list-of-parameters"], [48, "list-of-parameters"]], "An example 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41, 42, 43, 46, 48, 51, 52, 53, 55, 58], "stabl": 1, "against": 1, "accept": [1, 19, 29, 41, 42, 48, 49, 50, 52, 58], "api": [1, 2, 4, 7, 19, 23, 25, 27, 28, 29, 30, 31, 32, 34], "abi": 1, "e": [1, 2, 3, 4, 5, 7, 8, 10, 11, 14, 17, 18, 19, 21, 23, 24, 26, 27, 29, 30, 31, 32, 33, 34, 37, 39, 41, 42, 43, 47, 48, 49, 51, 52, 55, 56, 58, 61], "name": [1, 2, 3, 4, 5, 8, 11, 14, 15, 17, 18, 19, 20, 21, 23, 24, 26, 27, 28, 30, 31, 32, 33, 35, 37, 39, 41, 43, 44, 46, 47, 48, 51, 53, 55, 56], "convent": [1, 33], "master": [1, 3, 21, 33], "semi": 1, "binari": 1, "good": [1, 2, 4, 7, 39, 56], "same": [1, 9, 10, 11, 15, 29, 33, 40, 43, 48, 49, 50, 51], "build": [1, 9, 19, 33, 37, 41], "dai": 1, "ros_distro": [1, 3, 21, 23], "foxi": [1, 6, 8, 19], "galact": [1, 6, 19], "releas": [1, 3, 8, 21, 33], "version": [1, 3, 7, 9, 15, 21, 50], "non": [1, 8, 26, 33, 43], "brake": 1, "distribut": [1, 3, 21, 61], "three": [1, 3, 5, 13, 16, 17, 21, 33, 41, 49, 57], "stage": [1, 10, 26], "current": [1, 7, 15, 16, 17, 19, 20, 49, 50, 55], "futur": [1, 8, 10, 49, 50], "compat": [1, 3, 5, 8, 19, 21], "direct": [1, 5, 7, 19, 33, 41, 48], "local": [1, 2, 4, 9, 22, 23, 25, 26, 27, 28, 29, 30, 31, 32, 34, 47], "possibl": [1, 3, 7, 11, 17, 18, 21, 23, 25, 27, 28, 29, 30, 31, 32, 34, 37, 41, 49], "core": [1, 12, 33], "immedi": [1, 11, 23, 26, 27, 29, 30, 31, 32, 33, 34, 35, 51], "depend": [1, 3, 9, 13, 17, 19, 21, 22, 23, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 40, 41, 49, 51, 55], "fail": [1, 29, 33], "expect": [1, 7, 8, 9, 26, 33, 36, 38, 39, 50, 55, 56, 57], "after": [1, 10, 11, 18, 19, 21, 23, 33, 39, 41, 48, 49, 50, 55, 56], "next": [1, 23, 33, 49], "sync": 1, "abl": 1, "potenti": [1, 8, 9, 41, 48], "mid": 1, "power": [1, 2, 4, 8, 19], "plausibl": 1, "analyt": 1, "integr": [2, 3, 4, 7, 8, 18, 21, 26, 28, 33, 48, 49, 50, 51, 56, 61], "architectur": [2, 4, 7, 8, 9], "gazebo": [2, 4, 7, 18, 21, 23, 35, 59], "classic": [2, 18, 21, 59], "which": [2, 3, 4, 5, 7, 8, 9, 11, 15, 18, 19, 20, 21, 23, 25, 28, 29, 30, 31, 32, 33, 34, 35, 37, 39, 40, 41, 43, 46, 47, 48, 49, 50, 53, 55, 56], "instanti": [2, 4, 11], "manag": [2, 4, 5, 7, 8, 12, 13, 14, 16, 17, 19, 20, 21, 33, 41, 50, 61], "connect": [2, 3, 4, 18, 21, 30, 33], "model": [2, 4, 23, 25, 33], "cd": [2, 3, 4, 9, 21, 33], "docker": [2, 4, 9, 22, 23, 25, 26, 27, 28, 29, 30, 31, 32, 34], "allow": [2, 3, 4, 5, 11, 21, 33, 45, 48, 49, 50, 54], "without": [2, 3, 4, 5, 8, 11, 18, 19, 21, 26, 41, 48, 49], "gui": [2, 4, 21, 23, 26, 27, 29, 30, 31, 32, 34, 35, 54], "configur": [2, 3, 4, 5, 7, 8, 10, 11, 13, 14, 18, 21, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 41, 47, 48, 49, 50, 55], "properli": [2, 4, 10, 21, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35], "command": [2, 3, 4, 5, 7, 8, 9, 11, 12, 17, 18, 19, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 38, 39, 40, 41, 42, 44, 45, 48, 49, 52, 54, 57, 58, 61], "rm": [2, 3, 4, 21, 23], "net": [2, 4, 8, 21, 23], "host": [2, 4, 21, 23, 60], "ros2": [2, 3, 4, 8, 11, 19, 20, 21, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 41], "launch": [2, 3, 4, 11, 18, 21, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 34, 35], "cart_example_posit": [2, 4], "py": [2, 4, 21, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35], "fals": [2, 4, 15, 18, 21, 23, 25, 37, 39, 45, 47, 48, 50, 51, 55, 56], "machin": [2, 3, 4, 7, 21], "client": [2, 4, 50], "gzclient": 2, "rocker": [2, 4], "go": [2, 4, 8, 11, 19, 33, 41], "tool": [2, 4, 5, 7, 8, 9, 33, 37], "imag": [2, 4, 11], "inject": [2, 4, 8, 9], "nvidia": [2, 4], "And": 2, "user": [2, 4, 7, 11, 21, 33, 49], "id": [2, 4, 20, 23, 24, 25, 27, 28, 29, 30, 31, 32, 34, 37, 39], "specif": [2, 4, 7, 10, 11, 13, 14, 15, 17, 33, 35, 44, 47, 49, 50], "file": [2, 3, 4, 5, 7, 8, 11, 15, 18, 19, 21, 37, 39, 41, 42, 43, 50, 52, 58], "cleaner": [2, 4], "mount": [2, 4], "permiss": [2, 4, 11], "instal": [2, 4, 9, 11, 19, 22, 23, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 41], "instruct": [2, 4, 9, 28, 33, 35], "x11": [2, 4], "latest": [2, 3, 4, 9], "move": [2, 4, 21, 23, 25, 26, 27, 28, 29, 30, 31, 32, 34, 35, 39, 45, 56], "cart": [2, 4], "rail": [2, 4], "exec": [2, 4, 23], "bash": [2, 3, 4, 9, 19, 21, 23, 33, 41], "home": [2, 4], "ros2_w": [2, 3, 4, 21], "example_posit": [2, 4], "need": [2, 3, 4, 5, 7, 8, 10, 17, 19, 21, 23, 25, 27, 28, 29, 30, 31, 32, 33, 34, 37, 40, 41, 49, 51], "addit": [2, 4, 5, 10, 21, 24, 28, 33], "element": [2, 4, 33, 37, 48], "includ": [2, 4, 5, 7, 9, 11, 13, 19, 20, 25, 33, 37, 41, 50, 56, 60], "access": [2, 3, 4, 8, 11, 18, 23, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 41, 47], "interfac": [2, 4, 7, 8, 10, 11, 12, 13, 16, 19, 21, 23, 25, 26, 27, 28, 30, 31, 32, 35, 36, 38, 40, 41, 43, 46, 48, 49, 53, 57, 59, 60, 61], "state": [2, 3, 4, 5, 7, 8, 10, 11, 13, 15, 16, 17, 18, 19, 20, 21, 23, 24, 25, 26, 28, 29, 30, 31, 32, 33, 34, 35, 40, 41, 43, 47, 48], "gazebosystem": [2, 14], "system": [2, 3, 4, 5, 7, 8, 9, 13, 14, 15, 16, 17, 19, 20, 21, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 48, 50, 59, 60, 61], "hardwar": [2, 4, 8, 9, 10, 12, 13, 18, 20, 21, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 34, 35, 39, 40, 41, 48, 51, 56, 61], "slider_to_cart": [2, 4, 42, 52, 58], "command_interfac": [2, 3, 4, 14, 17, 24, 26, 33, 37, 48, 50, 51], "effort": [2, 4, 5, 14, 21, 33, 40, 42, 45, 47, 48, 50, 51], "param": [2, 3, 4, 11, 14, 15, 17, 18, 24, 28, 33], "min": [2, 3, 4, 17, 33], "1000": [2, 4, 14, 33], "state_interfac": [2, 3, 4, 14, 17, 18, 24, 33, 37, 48, 50], "posit": [2, 3, 4, 5, 8, 11, 14, 17, 18, 20, 21, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 37, 39, 40, 42, 47, 48, 49, 50, 51, 52, 55, 58], "initial_valu": [2, 4, 14, 17, 18, 24, 33], "veloc": [2, 3, 4, 5, 8, 10, 14, 21, 25, 27, 28, 29, 33, 37, 38, 39, 40, 45, 46, 47, 48, 49, 50, 51, 52, 55, 58], "defin": [2, 4, 5, 7, 11, 14, 17, 19, 21, 33, 37, 41, 43, 46, 47, 48, 49, 50, 51, 53, 55], "paramet": [2, 4, 5, 8, 9, 14, 15, 19, 21, 23, 24, 28, 33, 41, 50], "mimick": [2, 4], "detail": [2, 3, 4, 5, 11, 16, 17, 18, 19, 26, 33, 35, 36, 38, 39, 41, 49, 50, 57], "manual": [2, 3, 4, 7, 11, 19, 21, 23, 29, 30, 31, 32, 34, 35, 41, 61], "multipli": [2, 4, 14], "definit": [2, 3, 4, 11, 14, 19, 33, 37, 39, 40, 41, 43, 45, 46, 47, 48, 53], "left_finger_joint": [2, 4, 14], "prismat": [2, 4, 14], "right_finger_joint": [2, 4, 14], "axi": [2, 4, 7, 14, 33, 36, 38, 39, 43, 57], "xyz": [2, 4, 14, 33], "rpy": [2, 4, 14, 33], "1415926535": [2, 4, 14], "parent": [2, 4, 14, 19, 33, 39, 41, 56], "link": [2, 3, 4, 8, 10, 13, 14, 33, 37, 40], "base": [2, 3, 4, 8, 13, 14, 19, 20, 21, 25, 27, 28, 32, 33, 37, 39, 41, 44, 55, 56, 59, 60], "child": [2, 4, 14, 17, 33, 39, 56], "finger_left": [2, 4, 14], "lower": [2, 4, 14, 33, 51], "upper": [2, 4, 14, 33, 51], "In": [2, 3, 4, 5, 7, 8, 10, 15, 19, 21, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 40, 41, 47, 49, 55], "actual": [2, 4, 10, 39, 56], "pars": [2, 4, 5, 12, 17, 18], "load": [2, 3, 4, 11, 19, 20, 21, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 37, 40, 41], "appropri": [2, 4, 7, 49], "By": [2, 4, 11, 25, 33, 47, 49], "though": [2, 4, 11, 25, 26], "extens": [2, 4], "via": [2, 3, 4, 21, 23, 30, 31, 33, 50, 60], "creat": [2, 3, 4, 5, 8, 11, 18, 19, 21, 25, 33, 41], "between": [2, 3, 4, 7, 13, 17, 21, 33, 36, 38, 39, 47, 48, 49, 50, 51, 56, 57], "filenam": [2, 4, 33], "libgazebo_ros2_control": 2, "so": [2, 3, 4, 10, 11, 19, 33, 37, 41, 50], "robot_param": [2, 4], "robot_descript": [2, 4, 11, 23, 33], "robot_param_nod": [2, 4], "robot_state_publish": [2, 4, 11, 25, 47], "config": [2, 4, 21], "cart_control": [2, 4], "yaml": [2, 3, 4, 7, 9, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 50], "controller_manager_nam": 2, "simulation_controller_manag": 2, "option": [2, 4, 5, 11, 16, 17, 18, 19, 20, 23, 24, 29, 37, 39, 40, 41, 43, 47, 50, 51, 55], "server": [2, 45, 50], "node": [2, 3, 4, 11, 15, 16, 18, 20, 23, 25, 27, 28, 29, 30, 31, 32, 33, 34, 35, 41, 56], "hold_joint": [2, 4], "true": [2, 4, 15, 24, 25, 28, 35, 37, 39, 48, 49, 50, 51, 55, 56], "hold": [2, 4, 49], "wa": [2, 4, 7, 9, 19, 23, 24, 28, 29, 33, 41, 49], "claim": [2, 4, 10, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 37], "hasn": [2, 4], "been": [2, 4, 26], "yet": [2, 4, 6, 10, 11, 21, 26, 39, 49, 50], "controller_manag": [2, 3, 4, 7, 11, 20, 29, 40, 41, 42, 50, 52, 58], "attempt": [2, 4, 11, 50], "get": [2, 4, 8, 9, 10, 11, 13, 15, 19, 21, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 49, 51, 61], "out": [2, 4, 5, 11, 33, 39], "most": [2, 4, 7, 19, 21, 25, 33, 41], "case": [2, 4, 5, 7, 8, 10, 21, 26, 33, 41, 47, 49, 50, 61], "least": [2, 4, 17, 19, 41, 50], "start": [2, 4, 5, 8, 10, 11, 13, 21, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 39, 41, 48, 49, 56, 61], "hardware_interfac": [2, 3, 4, 5, 15, 16, 18, 19, 21, 27, 30, 31, 32, 33, 37, 39, 40, 41], "jointstateinterfac": [2, 4], "effortjointinterfac": [2, 4], "velocityjointinterfac": [2, 4], "pluginlib": [2, 3, 4, 5, 11, 19, 33, 41, 51], "implement": [2, 3, 4, 5, 7, 8, 11, 15, 17, 18, 19, 21, 23, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 36, 37, 38, 39, 41, 44, 49, 50, 51, 55, 56, 57, 61], "complex": [2, 3, 4, 7, 8, 9, 10], "mechan": [2, 4, 10, 50], "nonlinear": [2, 4], "spring": [2, 4], "linkag": [2, 4, 23, 26, 34], "etc": [2, 4, 11, 29, 33, 37, 61], "These": [2, 4, 21, 33, 39, 45, 56], "inherit": [2, 4, 11, 33], "gazebosysteminterfac": 2, "systeminterfac": [2, 4, 5, 15, 18, 30, 33], "level": [2, 4, 7, 8, 11, 26, 27, 32, 42, 49, 52, 58], "properti": [2, 4, 33], "sub": [2, 4, 25], "class": [2, 3, 4, 8, 11, 13, 16, 19, 20, 33, 41, 44, 49], "specifi": [2, 4, 11, 19, 21, 33, 37, 40, 41, 48, 49, 50, 51], "For": [2, 3, 4, 7, 8, 10, 11, 16, 18, 19, 21, 22, 23, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 41, 48, 50, 51, 55, 57], "exampl": [2, 3, 4, 5, 7, 8, 10, 11, 18, 20, 25, 28, 37, 39, 42, 43, 50, 51, 52, 56, 58, 61], "xml": [2, 4, 5, 11, 13, 15, 19, 33, 41], "insid": [2, 4, 18, 21, 23], "basic": [2, 3, 4, 5, 7, 8, 19, 21, 28, 41], "joint_state_broadcast": [2, 4, 17, 20, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 34, 35], "publish": [2, 4, 7, 10, 17, 21, 24, 25, 33, 37, 40, 43, 46, 47, 49, 53, 56, 61], "resourc": [2, 4, 5, 19, 29], "regist": [2, 4, 5], "stateinterfac": [2, 4, 33], "topic": [2, 4, 7, 8, 10, 11, 17, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 34, 35, 39, 40, 50, 51, 56, 59], "sensor_msg": [2, 4, 46, 53], "msg": [2, 4, 11, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 34, 35, 37, 39, 42, 43, 44, 46, 49, 50, 51, 52, 53, 55, 58], "jointstat": [2, 4], "joint_trajectory_control": [2, 4, 7, 20, 23, 40, 48, 54], "call": [2, 3, 4, 5, 10, 15, 19, 24, 28, 33, 41], "follow_joint_trajectori": [2, 4, 50], "control_msg": [2, 4, 37, 48, 50, 51, 55, 61], "followjointtrajectori": [2, 4, 48, 50], "ros__paramet": [2, 4, 37, 39, 42, 43, 45, 46, 47, 48, 50, 52, 53, 58], "update_r": [2, 4, 11, 40, 42, 52, 58], "100": [2, 3, 15, 17, 42, 52, 58], "hz": [2, 4, 39, 42, 45, 52, 58], "jointtrajectorycontrol": [2, 4, 5, 20, 23, 37, 50], "jointstatebroadcast": [2, 4, 20, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 34, 35], "contain": [2, 9, 21, 22, 23, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 37, 39, 42, 43, 45, 46, 47, 48, 49, 51, 52, 53, 55, 58], "content": [2, 19, 33, 41], "There": [2, 3, 4, 6, 11, 16, 19, 21, 25, 27, 30, 31, 32, 41, 49, 50], "meter": [2, 4, 33], "cart_example_veloc": [2, 4], "cart_example_effort": [2, 4], "diff_driv": 2, "tricycle_dr": 2, "world": [2, 4, 11, 18, 25, 33, 37], "example_veloc": [2, 4], "example_effort": [2, 4], "example_diff_dr": [2, 4], "example_tricycle_dr": [2, 4], "parallel": [2, 3, 4, 17], "gripper": [2, 3, 4, 5, 8, 17, 40], "gripper_mimic_joint_exampl": [2, 4], "send": [2, 4, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 49, 50, 51], "example_gripp": [2, 4], "roll": [3, 9, 21, 33, 39, 56], "both": [3, 7, 8, 11, 26, 33, 34, 39, 47, 48, 49, 50], "humbl": 3, "iron": [3, 6], "about": [3, 7, 18, 19, 29, 39, 46, 47, 50, 61], "page": [3, 8, 59, 60], "want": [3, 9, 10, 11, 21], "download": [3, 21], "repositori": [3, 7, 12, 17, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 34, 35, 37, 39, 40], "mkdir": [3, 9, 21], "p": [3, 9, 11, 21, 48, 51], "src": [3, 9, 19, 21, 23, 33, 37, 39, 41, 43, 45, 46, 47, 48, 53], "wget": 3, "raw": 3, "githubusercont": 3, "com": [3, 7, 9, 21, 33], "ros2_control_ci": 3, "ros_control": [3, 7, 8, 61], "vc": [3, 9, 21], "import": [3, 9, 19, 21, 33, 41, 48], "rosdep": [3, 21], "updat": [3, 5, 10, 11, 12, 16, 21, 25, 33, 37, 40, 41, 50, 55], "rosdistro": [3, 21], "sudo": [3, 9, 11, 21], "apt": [3, 9, 11, 21], "path": [3, 8, 21, 33, 50], "ignor": [3, 11, 21, 39, 48, 55, 56], "r": [3, 21, 34], "y": [3, 21, 25, 28, 30, 31, 37, 43, 46], "everyth": [3, 19, 21, 23, 25, 26, 27, 28, 29, 30, 31, 32, 34, 35, 41], "opt": [3, 9, 21, 23], "setup": [3, 9, 18, 19, 21, 23, 28, 33, 41, 49, 51], "sh": [3, 21, 23], "colcon": [3, 9, 19, 21, 33, 41], "symlink": [3, 9, 21, 33], "forget": [3, 5, 21, 50], "folder": [3, 8, 19, 21, 23, 24, 25, 28, 36, 37, 38, 39, 41, 43, 45, 46, 47, 48, 53, 55, 57], "found": [3, 11, 12, 19, 23, 24, 25, 28, 37, 39, 41, 43, 44, 46, 50, 53, 61], "figur": [3, 49], "uml": 3, "diagram": [3, 20], "describ": [3, 5, 10, 17, 21, 23, 29, 33, 39, 49], "intern": [3, 7, 10, 15, 17, 19, 23, 25, 26, 27, 28, 29, 30, 31, 32, 34, 37, 49, 50], "cm": [3, 11], "abstract": [3, 8, 16, 33], "side": [3, 7, 8, 39], "entri": [3, 41], "point": [3, 33, 37, 41, 48, 49, 50, 51, 61], "servic": [3, 7, 11, 16, 33, 40], "executor": [3, 11], "custom": [3, 11, 17, 18, 21, 24, 27, 28, 43, 47, 48, 59], "howev": [3, 7, 10, 11, 21, 26, 33], "usual": [3, 5, 18, 19, 33, 37, 41], "recommend": [3, 8, 9, 19, 51], "default": [3, 5, 10, 11, 18, 25, 29, 36, 37, 38, 39, 41, 43, 44, 45, 46, 47, 48, 49, 50, 51, 53, 55, 56, 57], "ros2_control_nod": [3, 11, 29, 33], "assum": [3, 10, 37], "On": [3, 8, 9, 33], "hand": [3, 33, 60], "deactiv": [3, 5, 20, 23, 48], "unload": [3, 11, 20], "match": [3, 21, 49], "enabl": [3, 5, 7, 8, 13, 19, 20, 21, 28, 37, 39, 43, 51, 55], 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RRBot", "Example 10: Industrial robot with GPIO interfaces", "CarlikeBot", "Example 12: Controller chaining with RRBot", "Example 14: Modular robot with actuators not providing states", "DiffBot", "Example 3: Robots with multiple interfaces", "Example 4: Industrial robot with integrated sensor", "Example 5: Industrial robot with externally connected sensor", "Example 6: Modular Robots with separate communication to each actuator", "Example 7: Full tutorial with a 6DOF robot", "Example 8: Industrial Robots with an exposed transmission interface", "Example 9: Simulation with RRBot", "ackermann_steering_controller", "Admittance Controller", "bicycle_steering_controller", "diff_drive_controller", "ros2_controllers", "Writing a new controller", "effort_controllers", "Force Torque Sensor Broadcaster", "forward_command_controller", "Gripper Action Controller", "IMU Sensor Broadcaster", "joint_state_broadcaster", "Details about parameters", "Trajectory Representation", 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"main": [1, 3, 7, 8, 11, 15, 18, 33, 41, 55, 61], "repo": [1, 3, 9, 21], "clean": 1, "featur": [1, 8, 18, 21, 23, 34, 55, 61], "branch": [1, 3, 21], "check": [1, 3, 5, 7, 10, 16, 18, 19, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 38, 41, 49, 50, 53, 57, 61], "satisfi": 1, "befor": [1, 5, 10, 11, 19, 23, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 39, 40, 41, 48, 49], "thei": [1, 3, 5, 7, 8, 10, 17, 18, 19, 20, 26, 40, 41, 48, 50, 55], "can": [1, 2, 3, 4, 5, 7, 8, 9, 10, 11, 12, 15, 16, 17, 18, 19, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 37, 38, 39, 41, 43, 44, 46, 49, 50, 51, 53, 55, 61], "must": [1, 2, 4, 10, 11, 17, 21, 33, 37, 46, 48, 50], "approv": 1, "two": [1, 3, 7, 10, 11, 19, 21, 23, 26, 27, 29, 30, 31, 32, 33, 34, 35, 36, 38, 41, 43, 49, 50, 51, 55, 56, 57], "explicitli": 1, "onli": [1, 3, 5, 7, 8, 10, 11, 16, 19, 20, 21, 23, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 37, 38, 39, 41, 42, 43, 47, 48, 49, 50, 51, 52, 55, 58], "except": [1, 24, 33], "other": [1, 2, 3, 5, 8, 10, 19, 21, 27, 32, 33, 36, 38, 41, 47, 49, 55, 57], "where": [1, 2, 7, 9, 10, 19, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 34, 36, 38, 39, 41, 47, 48, 49, 50, 51, 55, 57], "back": 1, "traceabl": 1, "discuss": [1, 8, 9, 26, 35, 49, 61], "suffici": [1, 2, 4, 10, 43], "note": [1, 3, 6, 11, 18, 23, 50, 51, 61], "still": [1, 5, 23, 26, 27, 28, 29, 30, 31, 32, 34, 40, 49], "encourag": 1, "help": [1, 11, 15, 18, 19, 20, 39, 41], "u": [1, 2, 4, 11, 21, 48], "increas": [1, 28, 51], "pace": 1, "veri": [1, 2, 4, 5, 7, 17], "like": [1, 2, 3, 4, 5, 7, 8, 9, 19, 25, 26, 33], "find": [1, 2, 3, 4, 15, 28], "issu": [1, 7, 8, 9, 61], "nobodi": 1, "els": 1, "squash": 1, "messag": [1, 7, 11, 20, 29, 30, 31, 33, 39, 43, 46, 47, 48, 49, 50, 53, 55, 56, 61], "comment": [1, 33], "fixup": 1, "linter": 1, "us": [1, 3, 5, 7, 8, 9, 13, 14, 15, 17, 18, 20, 22, 33, 36, 37, 38, 39, 40, 42, 43, 44, 45, 46, 47, 48, 49, 52, 53, 55, 56, 57, 58, 61], "pre": 1, "correct": [1, 5, 39, 49], "header": [1, 13, 19, 30, 31, 41, 49], "address": [1, 33], "similar": [1, 3, 8, 17, 23, 25, 26, 33], "mean": [1, 5, 10, 17, 18, 23, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 39, 49, 50, 56], "result": [1, 3, 10, 11, 23, 33, 47, 49], "exactli": 1, "cowboi": 1, "style": [1, 19, 41], "over": [1, 7, 10, 28, 33], "weekend": 1, "It": [1, 2, 3, 5, 7, 10, 11, 23, 24, 26, 27, 29, 30, 31, 32, 33, 34, 35, 43, 47, 48, 49, 51], "doesn": [1, 10, 51], "matter": 1, "trivial": [1, 18], "chanc": 1, "proper": [1, 10, 11, 50], "Be": 1, "awar": 1, "impact": 1, "proport": [1, 48, 51], "its": [1, 2, 3, 4, 5, 7, 8, 10, 11, 17, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 43, 44, 45, 46, 47, 48, 49, 51, 53, 55, 56, 57], "ping": 1, "them": [1, 7, 10, 11, 19, 22, 23, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 41, 47, 49, 60], "necessari": [1, 10, 13], "repeatedli": 1, "sphinx": 1, "doc": [1, 10, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 34, 35, 61], "theme": 1, "gener": [1, 7, 8, 17, 19, 20, 25, 27, 28, 29, 30, 31, 32, 33, 40, 41, 50, 55, 61], "locat": [1, 2, 9, 33, 37, 39, 43, 45, 46, 47, 48, 53], "control": [1, 8, 9, 12, 14, 15, 16, 17, 18, 19, 20, 21, 36, 38, 43, 46, 47, 48, 49, 53, 56, 57, 60, 61], "org": [1, 7, 15, 36, 38, 57], "while": [1, 3, 7, 8, 33, 37, 49], "packag": [1, 2, 4, 5, 11, 13, 19, 33, 36, 37, 38, 39, 41, 42, 43, 46, 50, 51, 52, 53, 55, 57, 58, 61], "written": [1, 19, 27, 32, 33, 41], "respect": [1, 2, 3, 4, 7, 8, 24, 48, 49, 50], "type": [1, 2, 3, 4, 5, 8, 10, 11, 12, 13, 14, 15, 16, 19, 20, 21, 24, 27, 28, 30, 31, 32, 33, 39, 40, 41, 42, 43, 46, 48, 51, 52, 53, 55, 58], "stabl": 1, "against": 1, "accept": [1, 19, 29, 41, 42, 48, 49, 50, 52, 58], "api": [1, 2, 4, 7, 19, 23, 25, 27, 28, 29, 30, 31, 32, 34], "abi": 1, "e": [1, 2, 3, 4, 5, 7, 8, 10, 11, 14, 17, 18, 19, 21, 23, 24, 26, 27, 29, 30, 31, 32, 33, 34, 37, 39, 41, 42, 43, 47, 48, 49, 51, 52, 55, 56, 58, 61], "name": [1, 2, 3, 4, 5, 8, 11, 14, 15, 17, 18, 19, 20, 21, 23, 24, 26, 27, 28, 30, 31, 32, 33, 35, 37, 39, 41, 43, 44, 46, 47, 48, 51, 53, 55, 56], "convent": [1, 33], "master": [1, 3, 21, 33], "semi": 1, "binari": 1, "good": [1, 2, 4, 7, 39, 56], "same": [1, 9, 10, 11, 15, 29, 33, 40, 43, 48, 49, 50, 51], "build": [1, 9, 19, 33, 37, 41], "dai": 1, "ros_distro": [1, 3, 21, 23], "foxi": [1, 6, 8, 19], "galact": [1, 6, 19], "releas": [1, 3, 8, 21, 33], "version": [1, 3, 7, 9, 15, 21, 50], "non": [1, 8, 26, 33, 43], "brake": 1, "distribut": [1, 3, 21, 61], "three": [1, 3, 5, 13, 16, 17, 21, 33, 41, 49, 57], "stage": [1, 10, 26], "current": [1, 7, 15, 16, 17, 19, 20, 49, 50, 55], "futur": [1, 8, 10, 49, 50], "compat": [1, 3, 5, 8, 19, 21], "direct": [1, 5, 7, 19, 33, 41, 48], "local": [1, 2, 4, 9, 22, 23, 25, 26, 27, 28, 29, 30, 31, 32, 34, 47], "possibl": [1, 3, 7, 11, 17, 18, 21, 23, 25, 27, 28, 29, 30, 31, 32, 34, 37, 41, 49], "core": [1, 12, 33], "immedi": [1, 11, 23, 26, 27, 29, 30, 31, 32, 33, 34, 35, 51], "depend": [1, 3, 9, 13, 17, 19, 21, 22, 23, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 40, 41, 49, 51, 55], "fail": [1, 29, 33], "expect": [1, 7, 8, 9, 26, 33, 36, 38, 39, 50, 55, 56, 57], "after": [1, 10, 11, 18, 19, 21, 23, 33, 39, 41, 48, 49, 50, 55, 56], "next": [1, 23, 33, 49], "sync": 1, "abl": 1, "potenti": [1, 8, 9, 41, 48], "mid": 1, "power": [1, 2, 4, 8, 19], "plausibl": 1, "analyt": 1, "integr": [2, 3, 4, 7, 8, 18, 21, 26, 28, 33, 48, 49, 50, 51, 56, 61], "architectur": [2, 4, 7, 8, 9], "gazebo": [2, 4, 7, 18, 21, 23, 35, 59], "classic": [2, 18, 21, 59], "which": [2, 3, 4, 5, 7, 8, 9, 11, 15, 18, 19, 20, 21, 23, 25, 28, 29, 30, 31, 32, 33, 34, 35, 37, 39, 40, 41, 43, 46, 47, 48, 49, 50, 53, 55, 56], "instanti": [2, 4, 11], "manag": [2, 4, 5, 7, 8, 12, 13, 14, 16, 17, 19, 20, 21, 33, 41, 50, 61], "connect": [2, 3, 4, 18, 21, 30, 33], "model": [2, 4, 23, 25, 33], "cd": [2, 3, 4, 9, 21, 33], "docker": [2, 4, 9, 22, 23, 25, 26, 27, 28, 29, 30, 31, 32, 34], "allow": [2, 3, 4, 5, 11, 21, 33, 45, 48, 49, 50, 54], "without": [2, 3, 4, 5, 8, 11, 18, 19, 21, 26, 41, 48, 49], "gui": [2, 4, 21, 23, 26, 27, 29, 30, 31, 32, 34, 35, 54], "configur": [2, 3, 4, 5, 7, 8, 10, 11, 13, 14, 18, 21, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 41, 47, 48, 49, 50, 55], "properli": [2, 4, 10, 21, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35], "command": [2, 3, 4, 5, 7, 8, 9, 11, 12, 17, 18, 19, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 38, 39, 40, 41, 42, 44, 45, 48, 49, 52, 54, 57, 58, 61], "rm": [2, 3, 4, 21, 23], "net": [2, 4, 8, 21, 23], "host": [2, 4, 21, 23, 60], "ros2": [2, 3, 4, 8, 11, 19, 20, 21, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 41], "launch": [2, 3, 4, 11, 18, 21, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 34, 35], "cart_example_posit": [2, 4], "py": [2, 4, 21, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35], "fals": [2, 4, 15, 18, 21, 23, 25, 37, 39, 45, 47, 48, 50, 51, 55, 56], "machin": [2, 3, 4, 7, 21], "client": [2, 4, 50], "gzclient": 2, "rocker": [2, 4], "go": [2, 4, 8, 11, 19, 33, 41], "tool": [2, 4, 5, 7, 8, 9, 33, 37], "imag": [2, 4, 11], "inject": [2, 4, 8, 9], "nvidia": [2, 4], "And": 2, "user": [2, 4, 7, 11, 21, 33, 49], "id": [2, 4, 20, 23, 24, 25, 27, 28, 29, 30, 31, 32, 34, 37, 39], "specif": [2, 4, 7, 10, 11, 13, 14, 15, 17, 33, 35, 44, 47, 49, 50], "file": [2, 3, 4, 5, 7, 8, 11, 15, 18, 19, 21, 37, 39, 41, 42, 43, 50, 52, 58], "cleaner": [2, 4], "mount": [2, 4], "permiss": [2, 4, 11], "instal": [2, 4, 9, 11, 19, 22, 23, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 41], "instruct": [2, 4, 9, 28, 33, 35], "x11": [2, 4], "latest": [2, 3, 4, 9], "move": [2, 4, 21, 23, 25, 26, 27, 28, 29, 30, 31, 32, 34, 35, 39, 45, 56], "cart": [2, 4], "rail": [2, 4], "exec": [2, 4, 23], "bash": [2, 3, 4, 9, 19, 21, 23, 33, 41], "home": [2, 4], "ros2_w": [2, 3, 4, 21], "example_posit": [2, 4], "need": [2, 3, 4, 5, 7, 8, 10, 17, 19, 21, 23, 25, 27, 28, 29, 30, 31, 32, 33, 34, 37, 40, 41, 49, 51], "addit": [2, 4, 5, 10, 21, 24, 28, 33], "element": [2, 4, 33, 37, 48], "includ": [2, 4, 5, 7, 9, 11, 13, 19, 20, 25, 33, 37, 41, 50, 56, 60], "access": [2, 3, 4, 8, 11, 18, 23, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 41, 47], "interfac": [2, 4, 7, 8, 10, 11, 12, 13, 16, 19, 21, 23, 25, 26, 27, 28, 30, 31, 32, 35, 36, 38, 40, 41, 43, 46, 48, 49, 53, 57, 59, 60, 61], "state": [2, 3, 4, 5, 7, 8, 10, 11, 13, 15, 16, 17, 18, 19, 20, 21, 23, 24, 25, 26, 28, 29, 30, 31, 32, 33, 34, 35, 40, 41, 43, 47, 48], "gazebosystem": [2, 14], "system": [2, 3, 4, 5, 7, 8, 9, 13, 14, 15, 16, 17, 19, 20, 21, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 48, 50, 59, 60, 61], "hardwar": [2, 4, 8, 9, 10, 12, 13, 18, 20, 21, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 34, 35, 39, 40, 41, 48, 51, 56, 61], "slider_to_cart": [2, 4, 42, 52, 58], "command_interfac": [2, 3, 4, 14, 17, 24, 26, 33, 37, 48, 50, 51], "effort": [2, 4, 5, 14, 21, 33, 40, 42, 45, 47, 48, 50, 51], "param": [2, 3, 4, 11, 14, 15, 17, 18, 24, 28, 33], "min": [2, 3, 4, 17, 33], "1000": [2, 4, 14, 33], "state_interfac": [2, 3, 4, 14, 17, 18, 24, 33, 37, 48, 50], "posit": [2, 3, 4, 5, 8, 11, 14, 17, 18, 20, 21, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 37, 39, 40, 42, 47, 48, 49, 50, 51, 52, 55, 58], "initial_valu": [2, 4, 14, 17, 18, 24, 33], "veloc": [2, 3, 4, 5, 8, 10, 14, 21, 25, 27, 28, 29, 33, 37, 38, 39, 40, 45, 46, 47, 48, 49, 50, 51, 52, 55, 58], "defin": [2, 4, 5, 7, 11, 14, 17, 19, 21, 33, 37, 41, 43, 46, 47, 48, 49, 50, 51, 53, 55], "paramet": [2, 4, 5, 8, 9, 14, 15, 19, 21, 23, 24, 28, 33, 41, 50], "mimick": [2, 4], "detail": [2, 3, 4, 5, 11, 16, 17, 18, 19, 26, 33, 35, 36, 38, 39, 41, 49, 50, 57], "manual": [2, 3, 4, 7, 11, 19, 21, 23, 29, 30, 31, 32, 34, 35, 41, 61], "multipli": [2, 4, 14], "definit": [2, 3, 4, 11, 14, 19, 33, 37, 39, 40, 41, 43, 45, 46, 47, 48, 53], "left_finger_joint": [2, 4, 14], "prismat": [2, 4, 14], "right_finger_joint": [2, 4, 14], "axi": [2, 4, 7, 14, 33, 36, 38, 39, 43, 57], "xyz": [2, 4, 14, 33], "rpy": [2, 4, 14, 33], "1415926535": [2, 4, 14], "parent": [2, 4, 14, 19, 33, 39, 41, 56], "link": [2, 3, 4, 8, 10, 13, 14, 33, 37, 40], "base": [2, 3, 4, 8, 13, 14, 19, 20, 21, 25, 27, 28, 32, 33, 37, 39, 41, 44, 55, 56, 59, 60], "child": [2, 4, 14, 17, 33, 39, 56], "finger_left": [2, 4, 14], "lower": [2, 4, 14, 33, 51], "upper": [2, 4, 14, 33, 51], "In": [2, 3, 4, 5, 7, 8, 10, 15, 19, 21, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 40, 41, 47, 49, 55], "actual": [2, 4, 10, 39, 56], "pars": [2, 4, 5, 12, 17, 18], "load": [2, 3, 4, 11, 19, 20, 21, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 37, 40, 41], "appropri": [2, 4, 7, 49], "By": [2, 4, 11, 25, 33, 47, 49], "though": [2, 4, 11, 25, 26], "extens": [2, 4], "via": [2, 3, 4, 21, 23, 30, 31, 33, 50, 60], "creat": [2, 3, 4, 5, 8, 11, 18, 19, 21, 25, 33, 41], "between": [2, 3, 4, 7, 13, 17, 21, 33, 36, 38, 39, 47, 48, 49, 50, 51, 56, 57], "filenam": [2, 4, 33], "libgazebo_ros2_control": 2, "so": [2, 3, 4, 10, 11, 19, 33, 37, 41, 50], "robot_param": [2, 4], "robot_descript": [2, 4, 11, 23, 33], "robot_param_nod": [2, 4], "robot_state_publish": [2, 4, 11, 25, 47], "config": [2, 4, 21], "cart_control": [2, 4], "yaml": [2, 3, 4, 7, 9, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 50], "controller_manager_nam": 2, "simulation_controller_manag": 2, "option": [2, 4, 5, 11, 16, 17, 18, 19, 20, 23, 24, 29, 37, 39, 40, 41, 43, 47, 50, 51, 55], "server": [2, 45, 50], "node": [2, 3, 4, 11, 15, 16, 18, 20, 23, 25, 27, 28, 29, 30, 31, 32, 33, 34, 35, 41, 56], "hold_joint": [2, 4], "true": [2, 4, 15, 24, 25, 28, 35, 37, 39, 48, 49, 50, 51, 55, 56], "hold": [2, 4, 49], "wa": [2, 4, 7, 9, 19, 23, 24, 28, 29, 33, 41, 49], "claim": [2, 4, 10, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 37], "hasn": [2, 4], "been": [2, 4, 26], "yet": [2, 4, 6, 10, 11, 21, 26, 39, 49, 50], "controller_manag": [2, 3, 4, 7, 11, 20, 29, 40, 41, 42, 50, 52, 58], "attempt": [2, 4, 11, 50], "get": [2, 4, 8, 9, 10, 11, 13, 15, 19, 21, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 49, 51, 61], "out": [2, 4, 5, 11, 33, 39], "most": [2, 4, 7, 19, 21, 25, 33, 41], "case": [2, 4, 5, 7, 8, 10, 21, 26, 33, 41, 47, 49, 50, 61], "least": [2, 4, 17, 19, 41, 50], "start": [2, 4, 5, 8, 10, 11, 13, 21, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 39, 41, 48, 49, 56, 61], "hardware_interfac": [2, 3, 4, 5, 15, 16, 18, 19, 21, 27, 30, 31, 32, 33, 37, 39, 40, 41], "jointstateinterfac": [2, 4], "effortjointinterfac": [2, 4], "velocityjointinterfac": [2, 4], "pluginlib": [2, 3, 4, 5, 11, 19, 33, 41, 51], "implement": [2, 3, 4, 5, 7, 8, 11, 15, 17, 18, 19, 21, 23, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 36, 37, 38, 39, 41, 44, 49, 50, 51, 55, 56, 57, 61], "complex": [2, 3, 4, 7, 8, 9, 10], "mechan": [2, 4, 10, 50], "nonlinear": [2, 4], "spring": [2, 4], "linkag": [2, 4, 23, 26, 34], "etc": [2, 4, 11, 29, 33, 37, 61], "These": [2, 4, 21, 33, 39, 45, 56], "inherit": [2, 4, 11, 33], "gazebosysteminterfac": 2, "systeminterfac": [2, 4, 5, 15, 18, 30, 33], "level": [2, 4, 7, 8, 11, 26, 27, 32, 42, 49, 52, 58], "properti": [2, 4, 33], "sub": [2, 4, 25], "class": [2, 3, 4, 8, 11, 13, 16, 19, 20, 33, 41, 44, 49], "specifi": [2, 4, 11, 19, 21, 33, 37, 40, 41, 48, 49, 50, 51], "For": [2, 3, 4, 7, 8, 10, 11, 16, 18, 19, 21, 22, 23, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 41, 48, 50, 51, 55, 57], "exampl": [2, 3, 4, 5, 7, 8, 10, 11, 18, 20, 25, 28, 37, 39, 42, 43, 50, 51, 52, 56, 58, 61], "xml": [2, 4, 5, 11, 13, 15, 19, 33, 41], "insid": [2, 4, 18, 21, 23], "basic": [2, 3, 4, 5, 7, 8, 19, 21, 28, 41], "joint_state_broadcast": [2, 4, 17, 20, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 34, 35], "publish": [2, 4, 7, 10, 17, 21, 24, 25, 33, 37, 40, 43, 46, 47, 49, 53, 56, 61], "resourc": [2, 4, 5, 19, 29], "regist": [2, 4, 5], "stateinterfac": [2, 4, 33], "topic": [2, 4, 7, 8, 10, 11, 17, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 34, 35, 39, 40, 50, 51, 56, 59], "sensor_msg": [2, 4, 46, 53], "msg": [2, 4, 11, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 34, 35, 37, 39, 42, 43, 44, 46, 49, 50, 51, 52, 53, 55, 58], "jointstat": [2, 4], "joint_trajectory_control": [2, 4, 7, 20, 23, 40, 48, 54], "call": [2, 3, 4, 5, 10, 15, 19, 24, 28, 33, 41], "follow_joint_trajectori": [2, 4, 50], "control_msg": [2, 4, 37, 48, 50, 51, 55, 61], "followjointtrajectori": [2, 4, 48, 50], "ros__paramet": [2, 4, 37, 39, 42, 43, 45, 46, 47, 48, 50, 52, 53, 58], "update_r": [2, 4, 11, 40, 42, 52, 58], "100": [2, 3, 15, 17, 42, 52, 58], "hz": [2, 4, 39, 42, 45, 52, 58], "jointtrajectorycontrol": [2, 4, 5, 20, 23, 37, 50], "jointstatebroadcast": [2, 4, 20, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 34, 35], "contain": [2, 9, 21, 22, 23, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 37, 39, 42, 43, 45, 46, 47, 48, 49, 51, 52, 53, 55, 58], "content": [2, 19, 33, 41], "There": [2, 3, 4, 6, 11, 16, 19, 21, 25, 27, 30, 31, 32, 41, 49, 50], "meter": [2, 4, 33], "cart_example_veloc": [2, 4], "cart_example_effort": [2, 4], "diff_driv": 2, "tricycle_dr": 2, "world": [2, 4, 11, 18, 25, 33, 37], "example_veloc": [2, 4], "example_effort": [2, 4], "example_diff_dr": [2, 4], "example_tricycle_dr": [2, 4], "parallel": [2, 3, 4, 17], "gripper": [2, 3, 4, 5, 8, 17, 40], "gripper_mimic_joint_exampl": [2, 4], "send": [2, 4, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 49, 50, 51], "example_gripp": [2, 4], "roll": [3, 9, 21, 33, 39, 56], "both": [3, 7, 8, 11, 26, 33, 34, 39, 47, 48, 49, 50], "humbl": 3, "iron": [3, 6], "about": [3, 7, 18, 19, 29, 39, 46, 47, 50, 61], "page": [3, 8, 59, 60], "want": [3, 9, 10, 11, 21], "download": [3, 21], "repositori": [3, 7, 12, 17, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 34, 35, 37, 39, 40], "mkdir": [3, 9, 21], "p": [3, 9, 11, 21, 48, 51], "src": [3, 9, 19, 21, 23, 33, 37, 39, 41, 43, 45, 46, 47, 48, 53], "wget": 3, "raw": 3, "githubusercont": 3, "com": [3, 7, 9, 21, 33], "ros2_control_ci": 3, "ros_control": [3, 7, 8, 61], "vc": [3, 9, 21], "import": [3, 9, 19, 21, 33, 41, 48], "rosdep": [3, 21], "updat": [3, 5, 10, 11, 12, 16, 21, 25, 33, 37, 40, 41, 50, 55], "rosdistro": [3, 21], "sudo": [3, 9, 11, 21], "apt": [3, 9, 11, 21], "path": [3, 8, 21, 33, 50], "ignor": [3, 11, 21, 39, 48, 55, 56], "r": [3, 21, 34], "y": [3, 21, 25, 28, 30, 31, 37, 43, 46], "everyth": [3, 19, 21, 23, 25, 26, 27, 28, 29, 30, 31, 32, 34, 35, 41], "opt": [3, 9, 21, 23], "setup": [3, 9, 18, 19, 21, 23, 28, 33, 41, 49, 51], "sh": [3, 21, 23], "colcon": [3, 9, 19, 21, 33, 41], "symlink": [3, 9, 21, 33], "forget": [3, 5, 21, 50], "folder": [3, 8, 19, 21, 23, 24, 25, 28, 36, 37, 38, 39, 41, 43, 45, 46, 47, 48, 53, 55, 57], "found": [3, 11, 12, 19, 23, 24, 25, 28, 37, 39, 41, 43, 44, 46, 50, 53, 61], "figur": [3, 49], "uml": 3, "diagram": [3, 20], "describ": [3, 5, 10, 17, 21, 23, 29, 33, 39, 49], "intern": [3, 7, 10, 15, 17, 19, 23, 25, 26, 27, 28, 29, 30, 31, 32, 34, 37, 49, 50], "cm": [3, 11], "abstract": [3, 8, 16, 33], "side": [3, 7, 8, 39], "entri": [3, 41], "point": [3, 33, 37, 41, 48, 49, 50, 51, 61], "servic": [3, 7, 11, 16, 33, 40], "executor": [3, 11], "custom": [3, 11, 17, 18, 21, 24, 27, 28, 43, 47, 48, 59], "howev": [3, 7, 10, 11, 21, 26, 33], "usual": [3, 5, 18, 19, 33, 37, 41], "recommend": [3, 8, 9, 19, 51], "default": [3, 5, 10, 11, 18, 25, 29, 36, 37, 38, 39, 41, 43, 44, 45, 46, 47, 48, 49, 50, 51, 53, 55, 56, 57], "ros2_control_nod": [3, 11, 29, 33], "assum": [3, 10, 37], "On": [3, 8, 9, 33], "hand": [3, 33, 60], "deactiv": [3, 5, 20, 23, 48], "unload": [3, 11, 20], "match": [3, 21, 49], "enabl": [3, 5, 7, 8, 13, 19, 20, 21, 28, 37, 39, 43, 51, 55], "report": [3, 7, 47, 61], "error": [3, 7, 11, 13, 15, 19, 26, 29, 33, 37, 41, 47, 48, 50, 51], "conflict": [3, 5, 7], "execut": [3, 11, 15, 19, 21, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 38, 41, 45, 48, 49, 50, 57], "loop": [3, 8, 11, 18, 23, 29, 30, 31, 32, 33, 34, 35, 41, 47, 48, 50, 55], "data": [3, 5, 7, 18, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 39, 40, 47, 49, 56], "output": [3, 7, 8, 11, 17, 20, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 37, 56], "write": [3, 5, 8, 10, 11, 12, 15, 24, 26, 27, 28, 32, 37, 40, 51], "physic": [3, 5, 16, 17, 18], "driver": [3, 8, 21, 33, 60], "librari": [3, 5, 19, 20, 25, 36, 38, 40, 41, 51, 55, 57], "lifecycl": [3, 5, 8, 11, 13, 16, 19, 33, 40], "reus": [3, 8, 10], "ani": [3, 5, 8, 10, 11, 13, 14, 16, 17, 21, 26, 33, 41, 48, 50], "flexibl": 3, "commun": [3, 5, 7, 8, 15, 19, 21, 23, 25, 27, 28, 29, 30, 31, 33, 34], "motor": [3, 10, 60], "encod": [3, 33, 39, 56], "theori": [3, 61], "compar": [3, 7, 8], "refer": [3, 10, 25, 26, 33, 60], "valu": [3, 5, 7, 15, 17, 18, 19, 21, 23, 24, 26, 28, 30, 31, 33, 35, 37, 39, 41, 43, 46, 47, 48, 50, 53, 55, 56], "measur": [3, 18, 27, 37, 43, 47, 48, 60], "calcul": [3, 25, 33, 37, 39, 49, 55, 56], "input": [3, 7, 8, 9, 10, 17, 24, 26, 33, 37, 39, 42, 44, 48, 49, 52, 55, 56, 58], "object": [3, 33], "deriv": [3, 48, 49, 51], "controllerinterfac": [3, 5, 10, 20, 33, 41], "controller_interfac": [3, 20, 33, 37, 41, 43, 46, 53], "export": [3, 10, 11, 19, 21, 33, 37, 41], "plugin": [3, 9, 11, 15, 16, 17, 18, 19, 20, 21, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 34, 35, 37, 41, 51, 54], "forwardcommandcontrol": [3, 23, 24, 26, 27, 29, 30, 31, 32, 34, 35], "lifecyclenod": [3, 41], "design": [3, 5, 7, 8, 10, 25, 33, 61], "document": [3, 7, 8, 17, 18, 19, 21, 28, 40, 49, 50], "list": [3, 8, 10, 11, 13, 19, 20, 26, 33, 41, 43, 59, 60, 61], "srv": [3, 50, 51], "controller_manager_msg": 3, "directli": [3, 14, 18, 23, 26, 51, 61], "exist": [3, 5, 7, 8, 9, 10, 11, 13, 17, 19, 23, 25, 27, 28, 29, 30, 31, 32, 33, 34, 37, 41, 50], "friendli": 3, "cli": [3, 11, 12, 20, 23, 24, 25, 28, 29, 30, 31, 32, 34, 35], "auto": [3, 11], "complet": [3, 16, 26, 33, 49], "rang": [3, 17, 40], "common": [3, 7, 21, 47, 61], "avail": [3, 5, 8, 10, 20, 21, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 41, 47, 50], "capabl": [3, 7], "realiz": [3, 8, 49, 50], "repres": [3, 16, 33, 39, 40, 49], "dynam": [3, 19, 25, 33, 37, 41, 51, 59], "multi": [3, 5, 7, 8, 9, 21, 29], "dof": [3, 17, 21, 33, 45, 51], "differ": [3, 7, 8, 11, 12, 16, 17, 19, 21, 23, 24, 28, 29, 33, 39, 42, 43, 47, 49, 51, 52, 55, 58], "actuat": [3, 5, 7, 13, 16, 17, 18, 19, 21, 26, 56], "transmiss": [3, 21], "humanoid": 3, "logic": 3, "channel": [3, 60], "kuka": [3, 23, 29, 30, 31, 60], "rsi": [3, 23, 30, 31, 60], "sensor": [3, 5, 7, 13, 16, 18, 19, 21, 27, 32, 33, 37, 40, 60], "sens": [3, 5, 40, 43], "relat": [3, 7, 8], "joint": [3, 5, 8, 11, 14, 18, 21, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 44, 45, 47, 48, 49, 51, 52, 55, 56, 57, 58, 61], "forc": [3, 8, 17, 20, 30, 31, 37, 40, 60], "torqu": [3, 17, 30, 31, 37, 40], "simpl": [3, 7, 8, 10, 19, 21, 23, 25, 26, 28, 33, 34, 41, 45], "valv": [3, 17], "mandatori": [3, 11], "dc": 3, "arduino": [3, 27, 32], "board": 3, "modular": [3, 8, 9, 21, 33], "independ": [3, 8, 11, 31], "explan": [3, 11, 19], "given": [3, 11, 22, 23, 25, 26, 27, 28, 29, 30, 31, 32, 34, 42, 49, 50, 52, 58], "through": [3, 7, 8, 10, 11, 19, 20, 21, 26, 33, 41, 50, 51, 61], "tag": [3, 11, 14, 17, 19, 21, 23, 24, 25, 26, 27, 28, 29, 30, 32, 33, 34, 35, 41, 61], "chosen": [3, 17], "structur": [3, 7, 10, 11, 19, 33, 39, 41, 48, 49], "track": [3, 36, 57, 61], "togeth": [3, 10, 17, 28, 30, 55], "multipl": [3, 5, 8, 10, 17, 19, 21, 47], "xacro": [3, 15, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35], "macro": [3, 5, 15, 19, 21, 33, 41], "hereund": 3, "rrbot": [3, 11, 17, 20, 21, 24, 25, 27, 29, 30, 31, 32, 34], "extern": [3, 5, 7, 10, 18, 21, 37, 51], "end": [3, 5, 16, 19, 33, 37, 41, 48], "effector": [3, 37], "site": 3, "rrbotsystempositiononli": [3, 31], "ros2_control_demo_hardwar": [3, 17, 20], "rrbotsystempositiononlyhardwar": [3, 5, 17, 20, 23, 26, 31], "example_param_write_for_sec": 3, "example_param_read_for_sec": [3, 17], "joint1": [3, 17, 20, 23, 24, 26, 27, 29, 30, 31, 32, 34, 35, 37, 50], "joint2": [3, 17, 20, 23, 24, 26, 27, 29, 30, 31, 32, 34, 35, 37, 50], "rrbotforcetorquesensor1d": 3, "forcetorquesensor1dhardwar": 3, "tcp_fts_sensor": [3, 17, 30, 31], "frame_id": [3, 17, 30, 31, 43, 46, 53, 55], "rrbot_tcp": 3, "min_forc": 3, "max_forc": 3, "rrbotgripp": 3, "positionactuatorhardwar": 3, "gripper_joint": 3, "extend": [3, 5, 7, 10, 19, 41], "instead": [3, 14, 18, 24, 28, 33, 35, 37, 48, 51], "pure": 3, "stack": [3, 8, 61], "could": [3, 8, 10, 21, 29, 41, 47, 50], "altern": [3, 9, 11, 23, 50], "script": [3, 7, 19, 41], "skeleton": 3, "sim": [4, 20, 59], "dockerfil": [4, 21], "Then": [4, 10, 21, 33, 35, 49], "ign": 4, "meet": [4, 61], "prerequisit": 4, "along": 4, "gazebosimsystem": 4, "libgz_ros2_control": 4, "gazebosimros2controlplugin": 4, "gazebosimsysteminterfac": 4, "controller_manager_prefix_node_nam": 4, "diff_drive_exampl": 4, "tricycle_drive_exampl": 4, "robothw": 5, "rigid": 5, "imposs": 5, "combinedrobothardwar": 5, "drawback": [5, 61], "solut": [5, 8, 9], "optim": [5, 11], "combin": [5, 10, 17, 18, 21, 29, 47, 49, 50, 51], "composit": [5, 8], "cell": [5, 43], "surround": 5, "box": [5, 21, 23, 25, 28, 29, 30, 31, 34, 35], "hard": [5, 11], "approach": [5, 10, 15], "doe": [5, 11, 19, 23, 25, 27, 28, 29, 30, 31, 32, 33, 34, 41, 49, 50], "enforc": [5, 29, 33], "string": [5, 11, 18, 21, 37, 39, 41, 43, 44, 45, 46, 47, 48, 51, 53, 55, 56], "ensur": [5, 8, 11, 14, 33, 49], "constant": [5, 21], "had": 5, "itself": [5, 10], "took": 5, "care": [5, 7, 11, 19, 29, 41, 50], "resourcemanag": [5, 10], "take": [5, 7, 10, 19, 26, 29, 39, 41, 47, 49], "anymor": 5, "controllermanag": [5, 11], "granular": 5, "sensorinterfac": [5, 27, 31], "actuatorinterfac": [5, 27, 32], "abov": [5, 23, 24, 26, 27, 28, 29, 30, 31, 32, 34, 35, 40, 49], "choos": [5, 21, 55], "suitabl": [5, 8], "strategi": [5, 21, 49], "decid": [5, 15], "mayb": [5, 10], "constructor": [5, 19, 33, 41], "initi": [5, 17, 18, 19, 24, 33, 41, 49], "variabl": [5, 15, 19, 33, 41, 48], "urdf": [5, 8, 11, 14, 15, 17, 18, 21, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 34, 35, 37], "snippet": 5, "hardwareinfo": [5, 15, 33], "here": [5, 12, 19, 33, 41, 42, 50, 52, 58], "cross": [5, 47], "export_": 5, "_interfac": [5, 19], "joint_a2": 5, "extract": [5, 39, 56], "sensibl": 5, "stop": [5, 8, 10, 11, 13, 20, 23, 24, 28, 29, 33, 39, 48, 56], "safe": [5, 33, 39, 41, 50, 56], "interrupt": [5, 11], "stream": [5, 8], "exchang": [5, 7, 23, 25, 27, 28, 29, 30, 31, 32, 34, 61], "equival": [5, 33], "pluginlib_export_class": [5, 19, 21, 33, 41], "cpp": [5, 19, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 41], "excel": 5, "real": [5, 7, 8, 11, 18, 24, 28, 41, 47, 48, 61], "critic": [5, 7], "mark": [5, 26], "member": [5, 19, 33, 41, 49], "init": 5, "declar": [5, 15, 19, 33, 41], "state_interface_configur": [5, 33, 41], "command_interface_configur": [5, 33, 41], "on_configur": [5, 19, 33, 41], "on_activ": [5, 13, 15, 19, 33, 41], "on_deactiv": [5, 13, 19, 33, 41], "final": [5, 8, 16, 33], "joint_trajectory_plugin": 5, "jazzi": 6, "task": [7, 8, 39], "envis": 7, "simul": [7, 18, 20, 21, 23, 24, 26, 28, 30, 31, 33], "ignit": 7, "showcas": [7, 8, 9], "grace": 7, "degrad": 7, "roadmap": [7, 21, 61], "place": [7, 9, 11, 39, 41, 56], "draft": 7, "gpio": [7, 14, 18, 21, 33], "mode": [7, 10, 19, 26, 29, 37, 48, 49, 51, 55], "switch": [7, 20, 21, 23, 29], "movement": [7, 48], "safeti": [7, 33], "skill": 7, "prefer": 7, "familiar": [7, 61], "mentor": 7, "\u0161togl": [7, 8], "size": [7, 39, 53, 56], "350": 7, "hour": 7, "difficulti": 7, "medium": 7, "focus": [7, 8, 10], "although": [7, 10, 13, 17, 50], "easi": [7, 11], "therefor": [7, 10, 11, 21, 41, 47, 48, 50], "often": [7, 24, 28, 41, 47], "orchestr": 7, "purpos": [7, 23, 26, 27, 29, 30, 31, 32, 33, 34, 35, 51], "conductor": 7, "scenario": [7, 49], "moment": [7, 50], "right": [7, 21, 39], "replac": [7, 13, 40, 50], "high": [7, 11, 49], "moveit2": [7, 8, 40, 60], "simplecontrollermanag": 7, "goal": [7, 8, 17, 23, 29, 30, 31, 32, 34, 35, 45, 48, 50, 61], "form": [7, 21], "behavior": [7, 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ros2_control tag to a URDF": [[2, "add-ros2-control-tag-to-a-urdf"], [4, "add-ros2-control-tag-to-a-urdf"]], "Simple setup": [[2, "simple-setup"], [4, "simple-setup"]], "Using mimic joints in simulation": [[2, "using-mimic-joints-in-simulation"], [4, "using-mimic-joints-in-simulation"]], "Add the gazebo_ros2_control plugin": [[2, "add-the-gazebo-ros2-control-plugin"]], "Default gazebo_ros2_control Behavior": [[2, "default-gazebo-ros2-control-behavior"]], "Advanced: custom gazebo_ros2_control Simulation Plugins": [[2, "advanced-custom-gazebo-ros2-control-simulation-plugins"]], "Set up controllers": [[2, "set-up-controllers"], [4, "set-up-controllers"]], "gazebo_ros2_control_demos": [[2, "gazebo-ros2-control-demos"]], "Getting Started": [[3, "getting-started"]], "Installation": [[3, "installation"], [21, "installation"]], "Binary packages": [[3, "binary-packages"]], "Building from Source": [[3, "building-from-source"]], "Architecture": [[3, "architecture"]], "Controller Manager": [[3, 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"Controller\u2019s Access to Hardware": [[5, "controller-s-access-to-hardware"]], "Migration Guide to ros2_control": [[5, "migration-guide-to-ros2-control"]], "RobotHardware to Components": [[5, "robothardware-to-components"]], "Controller Migration": [[5, "controller-migration"]], "Migration Guides": [[6, "migration-guides"]], "Coming from ros_control (ROS 1)": [[6, "coming-from-ros-control-ros-1"]], "Between different ROS 2 distributions": [[6, "between-different-ros-2-distributions"]], "ros2_control": [[6, "ros2-control"], [12, "ros2-control"]], "ros2_controllers": [[6, "ros2-controllers"], [40, "ros2-controllers"]], "Project Ideas for GSoC 2024": [[7, "project-ideas-for-gsoc-2024"]], "Tutorials and Demos for ros2_control": [[7, "tutorials-and-demos-for-ros2-control"]], "Mission-Control for ros2_control": [[7, "mission-control-for-ros2-control"]], "Add support for hardware semantic components": [[7, "add-support-for-hardware-semantic-components"]], "Feature-parity for controllers from ROS1": [[7, "feature-parity-for-controllers-from-ros1"]], "Resources": [[8, "resources"]], "Presentations": [[8, "presentations"]], "2023-10-18 ROSCon Workshop: ros2_control on Steroids": [[8, "roscon-workshop-ros2-control-on-steroids"]], "2023-02 ROS Meetup Munich #5": [[8, "ros-meetup-munich-5"]], "2022-12 ROS-Industrial Conference 2022": [[8, "ros-industrial-conference-2022"]], "2022-10 ROSCon 2022": [[8, "roscon-2022"]], "2022-06 ROSCon Fr 2022": [[8, "roscon-fr-2022"]], "2021-10 ROS World 2021": [[8, "ros-world-2021"]], "2021-10-07 Weekly Robotics Meetup #13": [[8, "weekly-robotics-meetup-13"]], "2021-06 ROSDevDay 2021": [[8, "rosdevday-2021"]], "2021-05 ROSCon Fr 2021": [[8, "roscon-fr-2021"]], "Diagrams": [[8, "diagrams"]], "Images": [[8, "images"]], "ROSCon 2023 Workshop": [[9, "roscon-2023-workshop"]], "ros2_control on Steroids": [[9, "ros2-control-on-steroids"]], "Summary": [[9, "summary"]], "Slides": [[9, "slides"]], "Before coming to the conference": [[9, "before-coming-to-the-conference"]], "People": [[9, "people"]], "Controller Chaining / Cascade Control": [[10, "controller-chaining-cascade-control"]], "Scope of the Document and Background Knowledge": [[10, "scope-of-the-document-and-background-knowledge"]], "Motivation, Purpose and Use": [[10, "motivation-purpose-and-use"]], "Implementation": [[10, "implementation"]], "A Controller Base-Class: ChainableController": [[10, "a-controller-base-class-chainablecontroller"]], "Inner Resource Management": [[10, "inner-resource-management"]], "Activation and Deactivation Chained Controllers": [[10, "activation-and-deactivation-chained-controllers"]], "Debugging outputs": [[10, "debugging-outputs"]], "Closing remarks": [[10, "closing-remarks"]], "Determinism": [[11, "determinism"]], "Subscribers": [[11, "subscribers"], [39, "subscribers"], [51, "subscribers"], [55, "subscribers"]], "Parameters": [[11, "parameters"], [18, "parameters"], [36, "parameters"], [37, "parameters"], [38, "parameters"], [39, "parameters"], [42, "parameters"], [43, "parameters"], [44, "parameters"], [45, "parameters"], [46, "parameters"], [47, "parameters"], [51, "parameters"], [52, "parameters"], [53, "parameters"], [55, "parameters"], [56, "parameters"], [57, "parameters"], [58, "parameters"]], "Handling Multiple Controller Managers": [[11, "handling-multiple-controller-managers"]], "Helper scripts": [[11, "helper-scripts"]], "spawner": [[11, "spawner"]], "unspawner": [[11, "unspawner"]], "Using the Controller Manager in a Process": [[11, "using-the-controller-manager-in-a-process"]], "Concepts": [[11, "concepts"], [12, "concepts"]], "Restarting all controllers": [[11, "restarting-all-controllers"]], "Restarting hardware": [[11, "restarting-hardware"]], "API Documentation": [[12, "api-documentation"]], "Features": [[12, "features"]], "Foxy to Galactic": [[13, "foxy-to-galactic"]], "hardware_interface": [[13, "hardware-interface"]], "Iron to Jazzy": [[14, "iron-to-jazzy"]], "component parser": [[14, "component-parser"]], "Different update rates for Hardware Components": [[15, "different-update-rates-for-hardware-components"]], "By counting loops": [[15, "by-counting-loops"]], "By measuring elapsed time": [[15, "by-measuring-elapsed-time"]], "Guidelines and Best Practices": [[16, "guidelines-and-best-practices"], [40, "guidelines-and-best-practices"]], "Handling of errors that happen during read() and write() calls": [[16, "handling-of-errors-that-happen-during-read-and-write-calls"]], "ros2_control hardware interface types": [[17, "ros2-control-hardware-interface-types"]], "Joints": [[17, "joints"]], "Sensors": [[17, "sensors"]], "GPIOs": [[17, "gpios"]], "Examples": [[17, "examples"], [21, "examples"]], "Mock Components": [[18, "mock-components"]], "Generic System": [[18, "generic-system"]], "Per-interface Parameters": [[18, "per-interface-parameters"]], "Writing a Hardware Component": [[19, "writing-a-hardware-component"]], "Useful External References": [[19, "useful-external-references"], [41, "useful-external-references"]], "Command Line Interface": [[20, "command-line-interface"]], "list_controllers": [[20, "list-controllers"]], "list_controller_types": [[20, "list-controller-types"]], "list_hardware_components": [[20, "list-hardware-components"]], "list_hardware_interfaces": [[20, "list-hardware-interfaces"]], "load_controller": [[20, "load-controller"]], "reload_controller_libraries": [[20, "reload-controller-libraries"]], "set_controller_state": [[20, "set-controller-state"]], "set_hardware_component_state": [[20, "set-hardware-component-state"]], "switch_controllers": [[20, "switch-controllers"]], "unload_controller": [[20, "unload-controller"]], "view_controller_chains": [[20, "view-controller-chains"]], "Demos": [[21, "demos"]], "What you can find in this repository": [[21, "what-you-can-find-in-this-repository"]], "Goals": [[21, "goals"]], "Examples Overview": [[21, "examples-overview"]], "Local installation": [[21, "local-installation"]], "Build from debian packages": [[21, "build-from-debian-packages"]], "Build from source": [[21, "build-from-source"]], "Using Docker": [[21, "using-docker"]], "To view the robot": [[21, "to-view-the-robot"]], "To run the ros2_control demos": [[21, "to-run-the-ros2-control-demos"]], "Quick Hints": [[21, "quick-hints"]], "Example 1: RRBot": [[23, "example-1-rrbot"]], "Tutorial steps": [[23, "tutorial-steps"], [25, "tutorial-steps"], [26, "tutorial-steps"], [27, "tutorial-steps"], [28, "tutorial-steps"], [29, "tutorial-steps"], [30, "tutorial-steps"], [31, "tutorial-steps"], [32, "tutorial-steps"], [34, "tutorial-steps"], [35, "tutorial-steps"]], "Files used for this demos": [[23, "files-used-for-this-demos"], [24, "files-used-for-this-demos"], [25, "files-used-for-this-demos"], [26, "files-used-for-this-demos"], [27, "files-used-for-this-demos"], [28, "files-used-for-this-demos"], [29, "files-used-for-this-demos"], [31, "files-used-for-this-demos"], [32, "files-used-for-this-demos"], [34, "files-used-for-this-demos"], [35, "files-used-for-this-demos"]], "Controllers from this demo": [[23, "controllers-from-this-demo"], [24, "controllers-from-this-demo"], [25, "controllers-from-this-demo"], [26, "controllers-from-this-demo"], [27, "controllers-from-this-demo"], [28, "controllers-from-this-demo"], [29, "controllers-from-this-demo"], [30, "controllers-from-this-demo"], [31, "controllers-from-this-demo"], [32, "controllers-from-this-demo"], [34, "controllers-from-this-demo"], [35, "controllers-from-this-demo"]], "Example 10: Industrial robot with GPIO interfaces": [[24, "example-10-industrial-robot-with-gpio-interfaces"]], "CarlikeBot": [[25, "carlikebot"]], "Example 12: Controller chaining with RRBot": [[26, "example-12-controller-chaining-with-rrbot"]], "Example 14: Modular robot with actuators not providing states": [[27, "example-14-modular-robot-with-actuators-not-providing-states"]], "DiffBot": [[28, "diffbot"]], "Example 3: Robots with multiple interfaces": [[29, "example-3-robots-with-multiple-interfaces"]], "Example 4: Industrial robot with integrated sensor": [[30, "example-4-industrial-robot-with-integrated-sensor"]], "Files used for this demo": [[30, "files-used-for-this-demo"]], "Example 5: Industrial robot with externally connected sensor": [[31, "example-5-industrial-robot-with-externally-connected-sensor"]], "Example 6: Modular Robots with separate communication to each actuator": [[32, "example-6-modular-robots-with-separate-communication-to-each-actuator"]], "Example 7: Full tutorial with a 6DOF robot": [[33, "example-7-full-tutorial-with-a-6dof-robot"]], "ros2_control overview": [[33, "ros2-control-overview"]], "Writing a URDF": [[33, "writing-a-urdf"]], "Geometry": [[33, "geometry"]], "URDF file": [[33, "urdf-file"]], "Writing a hardware interface": [[33, "writing-a-hardware-interface"]], "Plugin description file (hardware)": [[33, "plugin-description-file-hardware"]], "CMake library (hardware)": [[33, "cmake-library-hardware"]], "Writing a controller": [[33, "writing-a-controller"]], "Plugin description file (controller)": [[33, "plugin-description-file-controller"]], "CMake library (controller)": [[33, "cmake-library-controller"]], "Launching the example": [[33, "launching-the-example"]], "Example 8: Industrial Robots with an exposed transmission interface": [[34, "example-8-industrial-robots-with-an-exposed-transmission-interface"]], "Example 9: Simulation with RRBot": [[35, "example-9-simulation-with-rrbot"]], "ackermann_steering_controller": [[36, "ackermann-steering-controller"]], "Admittance Controller": [[37, "admittance-controller"]], "ROS 2 interface of the controller": [[37, "ros-2-interface-of-the-controller"], [42, "ros-2-interface-of-the-controller"], [44, "ros-2-interface-of-the-controller"], [52, "ros-2-interface-of-the-controller"], [58, "ros-2-interface-of-the-controller"]], "Topics": [[37, "topics"], [42, "topics"], [44, "topics"], [52, "topics"], [58, "topics"]], "ros2_control interfaces": [[37, "ros2-control-interfaces"]], "References": [[37, "references"], [39, "references"], [50, "references"]], "States": [[37, "states"], [50, "states"], [51, "states"], [55, "states"]], "Commands": [[37, "commands"], [47, "commands"], [50, "commands"], [51, "commands"], [55, "commands"]], "bicycle_steering_controller": [[38, "bicycle-steering-controller"]], "diff_drive_controller": [[39, "diff-drive-controller"]], "Other features": [[39, "other-features"], [50, "other-features"], [56, "other-features"]], "Description of controller\u2019s interfaces": [[39, "description-of-controller-s-interfaces"], [50, "description-of-controller-s-interfaces"], [51, "description-of-controller-s-interfaces"], [55, "description-of-controller-s-interfaces"]], "Feedback": [[39, "feedback"]], "Output": [[39, "output"]], "ROS 2 Interfaces": [[39, "ros-2-interfaces"]], "Publishers": [[39, "publishers"], [50, "publishers"], [51, "publishers"], [55, "publishers"]], "Controllers for Mobile Robots": [[40, "controllers-for-mobile-robots"]], "Controllers for Manipulators and Other Robots": [[40, "controllers-for-manipulators-and-other-robots"]], "Broadcasters": [[40, "broadcasters"]], "Common Controller Parameters": [[40, "common-controller-parameters"]], "Writing a new controller": [[41, "writing-a-new-controller"]], "effort_controllers": [[42, "effort-controllers"]], "effort_controllers/JointGroupEffortController": [[42, "effort-controllers-jointgroupeffortcontroller"]], "Force Torque Sensor Broadcaster": [[43, "force-torque-sensor-broadcaster"]], "forward_command_controller": [[44, "forward-command-controller"]], "Hardware interface type": [[44, "hardware-interface-type"], [47, "hardware-interface-type"]], "Gripper Action Controller": [[45, "gripper-action-controller"]], "List of parameters": [[45, "list-of-parameters"], [46, "list-of-parameters"], [47, "list-of-parameters"], [48, "list-of-parameters"], [53, "list-of-parameters"]], "An example parameter file": [[45, "an-example-parameter-file"], [46, "an-example-parameter-file"], [47, "an-example-parameter-file"], [48, "an-example-parameter-file"], [53, "an-example-parameter-file"]], "IMU Sensor Broadcaster": [[46, "imu-sensor-broadcaster"]], "joint_state_broadcaster": [[47, "joint-state-broadcaster"]], "Details about parameters": [[48, "details-about-parameters"]], "Trajectory Representation": [[49, "trajectory-representation"]], "Interpolation Method none": [[49, "interpolation-method-none"]], "Interpolation Method spline": [[49, "interpolation-method-spline"]], "Visualized Examples": [[49, "visualized-examples"]], "Trajectory Replacement": [[49, "trajectory-replacement"]], "joint_trajectory_controller": [[50, "joint-trajectory-controller"]], "Hardware interface types": [[50, "hardware-interface-types"]], "Using Joint Trajectory Controller(s)": [[50, "using-joint-trajectory-controller-s"]], "Preemption policy 1": [[50, "preemption-policy"]], "Actions 1": [[50, "actions"]], "Subscriber 1": [[50, "subscriber"]], "Services": [[50, "services"], [51, "services"]], "Further information": [[50, "further-information"]], "PID Controller": [[51, "pid-controller"]], "Execution logic of the controller": [[51, "execution-logic-of-the-controller"], [55, "execution-logic-of-the-controller"]], "Using the controller": [[51, "using-the-controller"]], "References (from a preceding controller)": [[51, "references-from-a-preceding-controller"], [55, "references-from-a-preceding-controller"]], "position_controllers": [[52, "position-controllers"]], "position_controllers/JointGroupPositionController": [[52, "position-controllers-jointgrouppositioncontroller"]], "Range Sensor Broadcaster": [[53, "range-sensor-broadcaster"]], "rqt_joint_trajectory_controller": [[54, "rqt-joint-trajectory-controller"]], "steering_controllers_library": [[55, "steering-controllers-library"]], "tricycle_controller": [[56, "tricycle-controller"]], "Velocity commands": [[56, "velocity-commands"]], "tricycle_steering_controller": [[57, "tricycle-steering-controller"]], "velocity_controllers": [[58, "velocity-controllers"]], "velocity_controllers/JointGroupVelocityController": [[58, "velocity-controllers-jointgroupvelocitycontroller"]], "Simulator Integrations": [[59, "simulator-integrations"]], "Hosted by ros-controls": [[59, "hosted-by-ros-controls"]], "Community": [[59, "community"]], "Supported Robots": [[60, "supported-robots"]], "Communication protocols": [[60, "communication-protocols"]], "End-effectors": [[60, "end-effectors"]], "Non robot-devices": [[60, "non-robot-devices"]], "Official (supported by robot manufacturer)": [[60, "official-supported-by-robot-manufacturer"]], "Unofficial (from the community)": [[60, "unofficial-from-the-community"]], "Welcome to the ros2_control documentation!": [[61, "welcome-to-the-ros2-control-documentation"]], "ros2_control Repositories": [[61, "ros2-control-repositories"]], "Development Organisation and Communication": [[61, 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