ros_control: A generic and simple control framework for ROS.
J. Open Source Software(2017)
摘要
In recent years the Robot Operating System (ROS) has become the u0027de factou0027 standard framework for robotics software development. The `ros_control` framework provides the capability to implement and manage robot controllers with a focus on both _real-time performance_ and _sharing of controllers_ in a robot-agnostic way. The primary motivation for a sepate robot-control framework is the lack of realtime-safe communication layer in ROS. Furthermore, the framework implements solutions for controller-lifecycle and hardware resource management as well as abstractions on hardware interfaces with minimal assumptions on hardware or operating system. The clear, modular design of `ros_control` makes it ideal for both research and industrial use and has indeed seen many such applications to date. The idea of `ros_control` originates from the `pr2_controller_manager` framework specific to the PR2 robot but `ros_control` is fully robot-agnostic. Controllers expose standard ROS interfaces for out-of-the box 3rd party solutions to robotics problems like manipulation path planning (`MoveIt!`) and autonomous navigation (the `ROS navigation stack`). Hence, a robot made up of a mobile base and an arm that support `ros_control` doesnu0027t need any additional code to be written, only a few controller configuration files and it is ready to navigate autonomously and do path planning for the arm. `ros_control` also provides several libraries to support writing custom controllers.
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