Abstract
This tutorial chapter explains the implementation of controllers in the Robot Operating System. The inner working of the ROS real-time loop is explained with discussion of the classes used to implement it. Contrariwise to most available examples of implementation of controllers in ROS, which show the use of single input, single output controllers using the proportional-integral-derivative control law, here controllers are approached in a more general sense, so that any control law can be used. A complete example of implementation of a MIMO nonlinear controller is presented using the computed torque control law. The real-time aspects of the problem are also considered and the controller is ready for running in hard-real-time with the PREEMPT_RT kernel patch. The source code of examples are available at public repositories to enable readers to experiment with the examples and adapt them to their robots.
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Notes
- 1.
A linear function is one in which \(f(\alpha _1 x_1+\alpha _2 x_2)=\alpha _1 f(x_1) + \alpha _2 f(x_2)\) for any constant \(\alpha _1\) and \(\alpha _2\) and any \(x_1\) and \(x_2\).
- 2.
The Newton-Euler formulation is a well-known recursive procedure to compute the torque in (5) as \(\tau =f(q,\dot{q},\ddot{q}\)).
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Lages, W.F. (2016). Implementation of Real-Time Joint Controllers. In: Koubaa, A. (eds) Robot Operating System (ROS). Studies in Computational Intelligence, vol 625. Springer, Cham. https://doi.org/10.1007/978-3-319-26054-9_26
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