[ros-users] [Orocos-users] Joint controller manager

Adolfo Rodríguez Tsouroukdissian adolfo.rodriguez at pal-robotics.com
Wed Jan 30 16:48:34 UTC 2013

On Tue, Jan 29, 2013 at 8:03 PM, Wim Meeussen <wim at hidof.com> wrote:

> Hi All,

Great to see so much interest in this topic!
> > HiDOF's repositories:
> > https://github.com/willowgarage/ros_control
> > https://github.com/willowgarage/ros_controllers
> There's also a wiki with some basic usage patterns here
> <https://github.com/willowgarage/ros_control/wiki>.

Hey Wim,

I wasn't aware of this resource, good!.

> This should be a
> good start for understanding the design a little better.  As Sachin
> mentioned earlier, the main idea behind this effort was to remove the
> PR2 specific assumptions that went into the pr2_mechanism_controller.
> The new framework itself does not try to impose or invent any specific
> interface to your robot, but it does allow the community to come up
> with a set of (domain specific) common interfaces that will make it
> possible to share code/controllers more easily.
> > I'll probably fork ros_control and do pull requests if I need to
> add/modify
> > something in their codebase.
> Sounds like a good plan. The development on the basic framework has
> settled down, so this would be a great time to look at where we can
> improve things. We're still actively working on the project, currently
> verifying realtime safety of code.

We'll be running things on Xenomai, so this is high in our list as well.

> Our next task is to port some of
> the most common controllers, and in the process pull out useful pieces
> (such as the trajectory management) into separate libraries.  From
> this thread I see that we're not the first ones trying to separate out
> the trajectory management code; I'd love to joint forces and end up
> with a single code base we can maintain together.  Which code base
> would be the best starting point for this effort?

I just pushed a folder named legacy_code in [1] that contains our port of
the JointTrajectoryActionController, and the component that exposes the
pr2_controller_manager-like component. The only changes I added from our
internal codebase is the header license which was missing on a few files.

Something worth noting is that the trajectory manipulation parts are
factored out of the JointTrajectoryActionController. I remember not being
entirely happy of how I ended up cutting the cake there, but it's a start.
I've also added a README, which provides some guiding comments.

On another note, since a few people have shown an interest to participate
in this effort, how about keeping design discussions here, but using
the ROS/Orocos
Robot Control Special Interest Group [2] created by Jonathan to discuss the
who-does-what-and-when, and not spam this list as much?. So sign up if you
want to participate!.

...I'll now go back and do my part checking out the code Jonathan shared


[1] https://github.com/pal-robotics/orocos_controller_manager
[2] https://groups.google.com/forum/?fromgroups#!forum/ros-robot-control-sig

> Best,
> Wim
> --
> Wim Meeussen
> CTO, hiDOF Inc.
> 650-529-4522
> http://hidof.com
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