[ros-users] [Discourse.ros.org] [Next Generation ROS] Ros_control in ROS2 wishlist

[Carlos San Vicente via Discourse.ros.org]

[quote="gavanderhoorn, post:3, topic:7803"]

1. maintain deterministic execution in everything (ie: hard real-time capability, not as a requirement (so keep components capable of running in deterministic environments, but dont require it: see executors below))

[/quote]

+1





[quote="gavanderhoorn, post:3, topic:7803"]

4. support industry-standard trajectory generators (almost off-topic, but you asked about `joint_trajectory_controller` , so: trapezoidal / s-curve profiles / higher-order interpolation / jerk-limited, etc)

[/quote]

+1



[quote="gavanderhoorn, post:3, topic:7803"]

6. fully support managed nodes

[/quote]

+1



It would be also nice to have more support for distributed motion control. Some features that would be interesting to have:

 * Remote life-cycle controller management.

 * Multicast trajectory_msgs to remote JointTrajectory controllers. Each controller would execute its corresponding trajectory.

 * Use a common E-stop topic to stop all the controllers at once.

 * Master-slave mirroring controllers.

 * Make use of DDS QoS policies (for example deadline) to implement a safe jog control.











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