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

Adolfo Rodríguez Tsouroukdissian adolfo.rodriguez at pal-robotics.com
Tue Jan 29 12:17:47 UTC 2013


All,

Firstly I'd like to thank you all for the positive feedback the original
post received. As next steps, it seems that the Willow Garage / hiDOF
implementation is a good starting point, as it already allows:
- Loading controllers as plugins, and serializing their execution in a
single thread.
- Creating controllers with arbitrary hardware interfaces.

I'll be giving this a test-drive, with the immediate steps being to:
- Write an Orocos 2.6 based component that leverages the controller_manager
library.
- Trigger each controller with a dedicated, configurable timer event to
allow each controller to have its own update rate. This timer event should
be compatible with deployment in hard-realtime and simulated clock contexts.

Best,

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

PAL ROBOTICS S.L
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