My team has written a simple but very flexible ros_control hardware interface that runs Dave Coleman's `ros_control_boilerplate` in Machinekit HAL + RTAPI. It's really cool, and we believe it can be used to control a lot of different robot hardware with configuration only, and little or no coding. We use it in our 6 DOF robot arms with simulated and EtherCAT drivers. While it's still brand-new, it plays out joint trajectories beautifully. https://github.com/zultron/hal_ros_control/ Machinekit HAL provides an RT threading environment where 'components' are loaded and 'pins' are connected through 'signals' in a simple configuration file. Out of the box it includes hundreds of pre-defined virtual components such as joint controllers, PID controllers, encoders, scale & offset, filters, pos/vel/acc limiters and logic gates. It talks to many types of real hardware, like EtherCAT, BeagleBone GPIO (incl. PRU support), and Zynq SOCs. Machinekit HAL is an offshoot of LinuxCNC HAL, well-proven to adapt an enormous variety complex physical hardware configurations for use with its CNC controller application; Machinekit improves and extends HAL for general automation applications, including robots. The `ros_control_boilerplate` enables adaptation to many applications by setting up ros_control and its joint limits and transmissions interfaces purely through configuration from the ROS parameter server. By complementing the boilerplate with Machinekit HAL as the hardware interface, we hope to eliminate most coding tasks in robot hardware integration and let you spend your time on more important things. --- [Visit Topic](https://discourse.ros.org/t/hal-ros-control-simple-powerful-ros-control-hardware-interface/7418/1) or reply to this email to respond. If you do not want to receive messages from ros-users please use the unsubscribe link below. If you use the one above, you will stop all of ros-users from receiving updates. ______________________________________________________________________________ ros-users mailing list ros-users@lists.ros.org http://lists.ros.org/mailman/listinfo/ros-users Unsubscribe: