hejia-zhang / rewd_controllers

master

rewd_controllers

Inverse dynamics controllers to accompany ros_control.

Dependencies: DART and Aikido

This package depends on DART 6.0 and a recent version of Aikido.

Dependencies: ros_control 0.10.0 or later

This package requires the MultiInterfaceController class, which was added in version 0.10.0 of controller_interface. If you are using ROS indigo, you will need to build a newer version of ros_control from source. rom source.

Add the following package to your workspace and re-build it:

- git:
local-name: ros_control
uri: https://github.com/ros-controls/ros_control.git
version: jade-devel

Note that version 0.10.0 of controller_manager_msgs is not backwards compatible with previous versions of that package. Therefore, you must update your checkout of ros_control in any workspaces that are used to communicate with the controller manager over ROS.

Additionally, you should update ros_controllers if you plan to use any of the controllers distributed with ros_control (e.g. JointStateController):

- git:
local-name: ros_controllers
uri: https://github.com/ros-controls/ros_controllers.git
version: jade-devel

Authors

rewd_controllers is developed by the Personal Robotics Lab in the Robotics Institute at Carnegie Mellon University. The controllers were written by Clint Liddick with some contributions from Michael Koval.