Understanding ros_control packages
Let's see how to develop a ROS controller. The first step is to understand the dependency packages required to start building custom controllers.
The main set of packages used to develop a controller generic to all robots is contained in the ros_control stack. This is a rewritten version of pr2_mechanism, containing useful libraries to write low-level controllers for PR2 robots (http://wiki.ros.org/Robots/PR2) used in the past version of ROS. In ROS Kinetic, pr2_mechanism has been substituted with the ros_control stack (http://wiki.ros.org/ros_control). The following is a description of some useful packages that help us to write robot controllers:
- ros_control: This package takes as input the joint state data directly from the robot's actuators and the desired set point, generating the output to send to its motors. The output is usually represented by the join position, velocity, or effort.
- controller_manager: The controller...