Hello ROS community,

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:

http://wiki.ros.org/pid

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.

For more complicated control problems, there is the *lyap_control *package:

http://wiki.ros.org/lyap_control

It 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.

Cheers,

Andy