Hi Adolfo,
Thank you for the practical advice. I would consider rolling my packages into the "control_toolbox." But, I have mixed feelings. My code launches nodes that can communicate with the entire ROS ecosystem (Python, Arduino, etc). Yours is a strictly C++ library.
Would you be OK with adding my packages into the ros_control stack? I would want to keep them as nodes, perhaps eventually implementing a C++ library of lyap_control. But, I could add digital LPF to the existing C++ library. That's not a problem. (And then I would deprecate the stand-alone packages I released)
AndyI do think it would be best to keep all of this control stuff together in one place.--On Mon, Mar 9, 2015 at 2:12 AM, Adolfo Rodríguez Tsouroukdissian <adolfo.rodriguez@pal-robotics.com> wrote:On Sun, Mar 8, 2015 at 9:32 PM, Andy Zelenak via ros-users <ros-users@lists.ros.org> wrote:Hello ROS community,Hello Andy, thanks for sharing your work!.These packages look more like examples or idea demonstrators, as they don't expose the controllers in a library, but rather generate executables. Users are likely to take more advantage of your contributions if you expose them in modular, ready to use units.I'd like to announce two control packages that I hope are useful to the community. First is the basic pid package for the PID controllers that engineers love so much:One of the nice features of the pid package is low-pass filtering on the data and the derivative calculation, which reduces noise and erratic control effort.The control_toolbox [1] package, which has been around for a while, also implements a PID loop, and has already a quite extensive user base. What are your thought on contributing missing features as enhancements for the existing implementation?.For more complicated control problems, there is the lyap_control package:The repository URL contains your bitbucket user. You should use:
https://bitbucket.org/AndyZe/lyap_controlIt can handle simple control problems too, but it really excels at high-order, coupled, over-actuated, or otherwise complicated systems. It can do some cool things like controlling seven motors simultaneously with minimal tuning.Best,Adolfo.
Cheers,Andy
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Andy ZelenakGraduate Research AssistantNuclear Robotics ProgramUniversity of Texas at Austin