Hi, rosers!<div><br></div><div>I&#39;m curious about where and how coordination function of conflicting controls</div><div>from various controllers is implemented in ROS stack.</div><div><br></div><div>I think that if we want to allow multiple controllers to be active simultaneously, </div>
<div>we need some sort of coordination function somewhere. For example,</div><div>a robot can say Hi while gazing a person and carrying a load by manipulator.</div><div>Gazing may be controlled by a &quot;face_tracking_controller&quot; and/or carrying </div>
<div>may be controlled by a &quot;carrier_controller&quot; or something. These two different</div><div>controllers may control different parts of a robot.</div><div><br></div><div>Does ROS allow multiple controllers to be active? If this is the case, where and</div>
<div>how is coordination function implemented?</div><div><br></div><div>Thanks,</div><div><br></div><div>- Yoonsoo</div><div><br></div>