Hi, rosers!
I'm curious about where and how coordination function of conflicting controls
from various controllers is implemented in ROS stack.
I think that if we want to allow multiple controllers to be active simultaneously,
we need some sort of coordination function somewhere. For example,
a robot can say Hi while gazing a person and carrying a load by manipulator.
Gazing may be controlled by a "face_tracking_controller" and/or carrying
may be controlled by a "carrier_controller" or something. These two different
controllers may control different parts of a robot.
Does ROS allow multiple controllers to be active? If this is the case, where and
how is coordination function implemented?
Thanks,
- Yoonsoo