jhu-lcsr/lcsr_controllers

Orocos/ROS-based controllers and state estimators for generic hardware interfaces.

LCSR Controllers

This repository contains Orocos-RTT-based robot controllers meant for use with ROS and the Conman controller manager.

Controllers

Effort-Outputting Controllers

• Joint-Space PID Controller
• Inverse-Dynamics Controller

Trajectory-Generators

• Joint Trajectory Generator
  • KDL Trapezoidal Profile lcsr_controllers::JointTrajGeneratorKDL
  • Reflexxes Type-2 Interpolation lcsr_controllers::JointTrajGeneratorRML

Trajectory Controllers

• Semi-Absolute Calibration Controller