[ros-users] New control packages

[Adolfo Rodríguez Tsouroukdissian]

On Sun, Mar 8, 2015 at 9:32 PM, Andy Zelenak via ros-users <
ros-users at 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:
>
> 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.
>

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:
>
> http://wiki.ros.org/lyap_control
>

The repository URL contains your bitbucket user. You should use:

https://bitbucket.org/AndyZe/lyap_control

(remove 'AndyZe@' before bitbucket.org)


[1] https://github.com/ros-controls/control_toolbox


> 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.
>

Best,

Adolfo.


>
> Cheers,
>
> Andy
>
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>
>


-- 
Adolfo Rodríguez Tsouroukdissian
Senior robotics engineer
adolfo.rodriguez at pal-robotics.com
http://www.pal-robotics.com

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