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ros_control: A generic and simple control framework for ROS

Abstract : In recent years the Robot Operating System (ROS) has become the 'de facto' 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 doesn't 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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https://hal.archives-ouvertes.fr/hal-01662418
Contributor : Gennaro Raiola Connect in order to contact the contributor
Submitted on : Wednesday, December 13, 2017 - 10:35:24 AM
Last modification on : Friday, January 5, 2018 - 5:18:46 PM

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10.21105.joss.00456.pdf
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Sachin Chitta, Eitan Marder-Eppstein, Wim Meeussen, Vijay Pradeep, Adolfo Rodríguez Tsouroukdissian, et al.. ros_control: A generic and simple control framework for ROS. The Journal of Open Source Software, 2017, 2 (20), pp.456 - 456. ⟨10.21105/joss.00456⟩. ⟨hal-01662418⟩

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