ROS Index
|
cartesian_controller_simulation package from cartesian_controllers repocartesian_compliance_controller cartesian_controller_base cartesian_controller_handles cartesian_controller_simulation cartesian_controller_tests cartesian_controller_utilities cartesian_force_controller cartesian_motion_controller |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 0.0.0 |
| License | BSD-3-Clause |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Description | A set of Cartesian controllers for the ROS1 and ROS2-control framework. |
| Checkout URI | https://github.com/fzi-forschungszentrum-informatik/cartesian_controllers.git |
| VCS Type | git |
| VCS Version | ros2 |
| Last Updated | 2024-10-30 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- scherzin
Authors
Cartesian Controller Simulation
This package provides a simulated robot for controller development and testing.
Physics engine and rationales
We build the simulator on Todorov’s MuJoCo physics engine, which has been acquired and open-sourced by Google here. This gives us a strong environment to realistically test control and contact phenomena with minimal dependencies.
Build and install
We use MuJoCo in headless mode and don’t need OpenGL-related dependencies.
- Download MuJoCo’s pre-built library package and extract that somewhere. It’s ready-to-use and we will just point to it during the build.
cd $HOME
wget https://github.com/deepmind/mujoco/releases/download/3.0.0/mujoco-3.0.0-linux-x86_64.tar.gz
tar -xf mujoco-3.0.0-linux-x86_64.tar.gz
- Switch to the root of your ROS2 workspace and build the package (standalone) with
colcon build --cmake-args "-DMUJOCO_DIR=$HOME/mujoco-3.0.0" --packages-select cartesian_controller_simulation
Getting started
In a sourced terminal, run
export LC_NUMERIC="en_US.UTF-8"
ros2 launch cartesian_controller_simulation simulation.launch.py
The export might not be necessary on your system. It fixes an eventual locals problem and makes sure that you see the robot visualization correctly in RViz. The launch part will start a simulated world with a generic robot model. You can call
ros2 control list_controllers
to get a list of controllers currently managed by the controller_manager.
All of them can be activated and tested in the simulator.
In contrast to ROS1, these controllers are nodes and you can also see them with ros2 node list.
Hardware interfaces for controllers
Exposed interfaces per joint:
-
command_interfaces: position, velocity, stiffness, damping -
state_interfaces: position, velocity
Package Dependencies
System Dependencies
Dependant Packages
| Name | Deps |
|---|---|
| cartesian_controller_tests |
Launch files
Messages
Services
Plugins
Recent questions tagged cartesian_controller_simulation at Robotics Stack Exchange
|
|
cartesian_controller_simulation package from cartesian_controllers repocartesian_compliance_controller cartesian_controller_base cartesian_controller_handles cartesian_controller_simulation cartesian_controller_tests cartesian_controller_utilities cartesian_force_controller cartesian_motion_controller |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 0.0.0 |
| License | BSD-3-Clause |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Description | A set of Cartesian controllers for the ROS1 and ROS2-control framework. |
| Checkout URI | https://github.com/fzi-forschungszentrum-informatik/cartesian_controllers.git |
| VCS Type | git |
| VCS Version | ros2 |
| Last Updated | 2024-10-30 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- scherzin
Authors
Cartesian Controller Simulation
This package provides a simulated robot for controller development and testing.
Physics engine and rationales
We build the simulator on Todorov’s MuJoCo physics engine, which has been acquired and open-sourced by Google here. This gives us a strong environment to realistically test control and contact phenomena with minimal dependencies.
Build and install
We use MuJoCo in headless mode and don’t need OpenGL-related dependencies.
- Download MuJoCo’s pre-built library package and extract that somewhere. It’s ready-to-use and we will just point to it during the build.
cd $HOME
wget https://github.com/deepmind/mujoco/releases/download/3.0.0/mujoco-3.0.0-linux-x86_64.tar.gz
tar -xf mujoco-3.0.0-linux-x86_64.tar.gz
- Switch to the root of your ROS2 workspace and build the package (standalone) with
colcon build --cmake-args "-DMUJOCO_DIR=$HOME/mujoco-3.0.0" --packages-select cartesian_controller_simulation
Getting started
In a sourced terminal, run
export LC_NUMERIC="en_US.UTF-8"
ros2 launch cartesian_controller_simulation simulation.launch.py
The export might not be necessary on your system. It fixes an eventual locals problem and makes sure that you see the robot visualization correctly in RViz. The launch part will start a simulated world with a generic robot model. You can call
ros2 control list_controllers
to get a list of controllers currently managed by the controller_manager.
All of them can be activated and tested in the simulator.
In contrast to ROS1, these controllers are nodes and you can also see them with ros2 node list.
Hardware interfaces for controllers
Exposed interfaces per joint:
-
command_interfaces: position, velocity, stiffness, damping -
state_interfaces: position, velocity
Package Dependencies
System Dependencies
Dependant Packages
| Name | Deps |
|---|---|
| cartesian_controller_tests |
Launch files
Messages
Services
Plugins
Recent questions tagged cartesian_controller_simulation at Robotics Stack Exchange
|
|
cartesian_controller_simulation package from cartesian_controllers repocartesian_compliance_controller cartesian_controller_base cartesian_controller_handles cartesian_controller_simulation cartesian_controller_tests cartesian_controller_utilities cartesian_force_controller cartesian_motion_controller |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 0.0.0 |
| License | BSD-3-Clause |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Description | A set of Cartesian controllers for the ROS1 and ROS2-control framework. |
| Checkout URI | https://github.com/fzi-forschungszentrum-informatik/cartesian_controllers.git |
| VCS Type | git |
| VCS Version | ros2 |
| Last Updated | 2024-10-30 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- scherzin
Authors
Cartesian Controller Simulation
This package provides a simulated robot for controller development and testing.
Physics engine and rationales
We build the simulator on Todorov’s MuJoCo physics engine, which has been acquired and open-sourced by Google here. This gives us a strong environment to realistically test control and contact phenomena with minimal dependencies.
Build and install
We use MuJoCo in headless mode and don’t need OpenGL-related dependencies.
- Download MuJoCo’s pre-built library package and extract that somewhere. It’s ready-to-use and we will just point to it during the build.
cd $HOME
wget https://github.com/deepmind/mujoco/releases/download/3.0.0/mujoco-3.0.0-linux-x86_64.tar.gz
tar -xf mujoco-3.0.0-linux-x86_64.tar.gz
- Switch to the root of your ROS2 workspace and build the package (standalone) with
colcon build --cmake-args "-DMUJOCO_DIR=$HOME/mujoco-3.0.0" --packages-select cartesian_controller_simulation
Getting started
In a sourced terminal, run
export LC_NUMERIC="en_US.UTF-8"
ros2 launch cartesian_controller_simulation simulation.launch.py
The export might not be necessary on your system. It fixes an eventual locals problem and makes sure that you see the robot visualization correctly in RViz. The launch part will start a simulated world with a generic robot model. You can call
ros2 control list_controllers
to get a list of controllers currently managed by the controller_manager.
All of them can be activated and tested in the simulator.
In contrast to ROS1, these controllers are nodes and you can also see them with ros2 node list.
Hardware interfaces for controllers
Exposed interfaces per joint:
-
command_interfaces: position, velocity, stiffness, damping -
state_interfaces: position, velocity
Package Dependencies
System Dependencies
Dependant Packages
| Name | Deps |
|---|---|
| cartesian_controller_tests |
Launch files
Messages
Services
Plugins
Recent questions tagged cartesian_controller_simulation at Robotics Stack Exchange
|
|
cartesian_controller_simulation package from cartesian_controllers repocartesian_compliance_controller cartesian_controller_base cartesian_controller_handles cartesian_controller_simulation cartesian_controller_tests cartesian_controller_utilities cartesian_force_controller cartesian_motion_controller |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 0.0.0 |
| License | BSD-3-Clause |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Description | A set of Cartesian controllers for the ROS1 and ROS2-control framework. |
| Checkout URI | https://github.com/fzi-forschungszentrum-informatik/cartesian_controllers.git |
| VCS Type | git |
| VCS Version | ros2 |
| Last Updated | 2024-10-30 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- scherzin
Authors
Cartesian Controller Simulation
This package provides a simulated robot for controller development and testing.
Physics engine and rationales
We build the simulator on Todorov’s MuJoCo physics engine, which has been acquired and open-sourced by Google here. This gives us a strong environment to realistically test control and contact phenomena with minimal dependencies.
Build and install
We use MuJoCo in headless mode and don’t need OpenGL-related dependencies.
- Download MuJoCo’s pre-built library package and extract that somewhere. It’s ready-to-use and we will just point to it during the build.
cd $HOME
wget https://github.com/deepmind/mujoco/releases/download/3.0.0/mujoco-3.0.0-linux-x86_64.tar.gz
tar -xf mujoco-3.0.0-linux-x86_64.tar.gz
- Switch to the root of your ROS2 workspace and build the package (standalone) with
colcon build --cmake-args "-DMUJOCO_DIR=$HOME/mujoco-3.0.0" --packages-select cartesian_controller_simulation
Getting started
In a sourced terminal, run
export LC_NUMERIC="en_US.UTF-8"
ros2 launch cartesian_controller_simulation simulation.launch.py
The export might not be necessary on your system. It fixes an eventual locals problem and makes sure that you see the robot visualization correctly in RViz. The launch part will start a simulated world with a generic robot model. You can call
ros2 control list_controllers
to get a list of controllers currently managed by the controller_manager.
All of them can be activated and tested in the simulator.
In contrast to ROS1, these controllers are nodes and you can also see them with ros2 node list.
Hardware interfaces for controllers
Exposed interfaces per joint:
-
command_interfaces: position, velocity, stiffness, damping -
state_interfaces: position, velocity
Package Dependencies
System Dependencies
Dependant Packages
| Name | Deps |
|---|---|
| cartesian_controller_tests |
Launch files
Messages
Services
Plugins
Recent questions tagged cartesian_controller_simulation at Robotics Stack Exchange
|
|
cartesian_controller_simulation package from cartesian_controllers repocartesian_compliance_controller cartesian_controller_base cartesian_controller_handles cartesian_controller_simulation cartesian_controller_tests cartesian_controller_utilities cartesian_force_controller cartesian_motion_controller |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 0.0.0 |
| License | BSD-3-Clause |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Description | A set of Cartesian controllers for the ROS1 and ROS2-control framework. |
| Checkout URI | https://github.com/fzi-forschungszentrum-informatik/cartesian_controllers.git |
| VCS Type | git |
| VCS Version | ros2 |
| Last Updated | 2024-10-30 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- scherzin
Authors
Cartesian Controller Simulation
This package provides a simulated robot for controller development and testing.
Physics engine and rationales
We build the simulator on Todorov’s MuJoCo physics engine, which has been acquired and open-sourced by Google here. This gives us a strong environment to realistically test control and contact phenomena with minimal dependencies.
Build and install
We use MuJoCo in headless mode and don’t need OpenGL-related dependencies.
- Download MuJoCo’s pre-built library package and extract that somewhere. It’s ready-to-use and we will just point to it during the build.
cd $HOME
wget https://github.com/deepmind/mujoco/releases/download/3.0.0/mujoco-3.0.0-linux-x86_64.tar.gz
tar -xf mujoco-3.0.0-linux-x86_64.tar.gz
- Switch to the root of your ROS2 workspace and build the package (standalone) with
colcon build --cmake-args "-DMUJOCO_DIR=$HOME/mujoco-3.0.0" --packages-select cartesian_controller_simulation
Getting started
In a sourced terminal, run
export LC_NUMERIC="en_US.UTF-8"
ros2 launch cartesian_controller_simulation simulation.launch.py
The export might not be necessary on your system. It fixes an eventual locals problem and makes sure that you see the robot visualization correctly in RViz. The launch part will start a simulated world with a generic robot model. You can call
ros2 control list_controllers
to get a list of controllers currently managed by the controller_manager.
All of them can be activated and tested in the simulator.
In contrast to ROS1, these controllers are nodes and you can also see them with ros2 node list.
Hardware interfaces for controllers
Exposed interfaces per joint:
-
command_interfaces: position, velocity, stiffness, damping -
state_interfaces: position, velocity
Package Dependencies
System Dependencies
Dependant Packages
| Name | Deps |
|---|---|
| cartesian_controller_tests |
Launch files
Messages
Services
Plugins
Recent questions tagged cartesian_controller_simulation at Robotics Stack Exchange
|
|
cartesian_controller_simulation package from cartesian_controllers repocartesian_compliance_controller cartesian_controller_base cartesian_controller_handles cartesian_controller_simulation cartesian_controller_tests cartesian_controller_utilities cartesian_force_controller cartesian_motion_controller |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 0.0.0 |
| License | BSD-3-Clause |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Description | A set of Cartesian controllers for the ROS1 and ROS2-control framework. |
| Checkout URI | https://github.com/fzi-forschungszentrum-informatik/cartesian_controllers.git |
| VCS Type | git |
| VCS Version | ros2 |
| Last Updated | 2024-10-30 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- scherzin
Authors
Cartesian Controller Simulation
This package provides a simulated robot for controller development and testing.
Physics engine and rationales
We build the simulator on Todorov’s MuJoCo physics engine, which has been acquired and open-sourced by Google here. This gives us a strong environment to realistically test control and contact phenomena with minimal dependencies.
Build and install
We use MuJoCo in headless mode and don’t need OpenGL-related dependencies.
- Download MuJoCo’s pre-built library package and extract that somewhere. It’s ready-to-use and we will just point to it during the build.
cd $HOME
wget https://github.com/deepmind/mujoco/releases/download/3.0.0/mujoco-3.0.0-linux-x86_64.tar.gz
tar -xf mujoco-3.0.0-linux-x86_64.tar.gz
- Switch to the root of your ROS2 workspace and build the package (standalone) with
colcon build --cmake-args "-DMUJOCO_DIR=$HOME/mujoco-3.0.0" --packages-select cartesian_controller_simulation
Getting started
In a sourced terminal, run
export LC_NUMERIC="en_US.UTF-8"
ros2 launch cartesian_controller_simulation simulation.launch.py
The export might not be necessary on your system. It fixes an eventual locals problem and makes sure that you see the robot visualization correctly in RViz. The launch part will start a simulated world with a generic robot model. You can call
ros2 control list_controllers
to get a list of controllers currently managed by the controller_manager.
All of them can be activated and tested in the simulator.
In contrast to ROS1, these controllers are nodes and you can also see them with ros2 node list.
Hardware interfaces for controllers
Exposed interfaces per joint:
-
command_interfaces: position, velocity, stiffness, damping -
state_interfaces: position, velocity
Package Dependencies
System Dependencies
Dependant Packages
| Name | Deps |
|---|---|
| cartesian_controller_tests |
Launch files
Messages
Services
Plugins
Recent questions tagged cartesian_controller_simulation at Robotics Stack Exchange
|
|
cartesian_controller_simulation package from cartesian_controllers repocartesian_compliance_controller cartesian_controller_base cartesian_controller_handles cartesian_controller_simulation cartesian_controller_tests cartesian_controller_utilities cartesian_force_controller cartesian_motion_controller |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 0.0.0 |
| License | BSD-3-Clause |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Description | A set of Cartesian controllers for the ROS1 and ROS2-control framework. |
| Checkout URI | https://github.com/fzi-forschungszentrum-informatik/cartesian_controllers.git |
| VCS Type | git |
| VCS Version | ros2 |
| Last Updated | 2024-10-30 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- scherzin
Authors
Cartesian Controller Simulation
This package provides a simulated robot for controller development and testing.
Physics engine and rationales
We build the simulator on Todorov’s MuJoCo physics engine, which has been acquired and open-sourced by Google here. This gives us a strong environment to realistically test control and contact phenomena with minimal dependencies.
Build and install
We use MuJoCo in headless mode and don’t need OpenGL-related dependencies.
- Download MuJoCo’s pre-built library package and extract that somewhere. It’s ready-to-use and we will just point to it during the build.
cd $HOME
wget https://github.com/deepmind/mujoco/releases/download/3.0.0/mujoco-3.0.0-linux-x86_64.tar.gz
tar -xf mujoco-3.0.0-linux-x86_64.tar.gz
- Switch to the root of your ROS2 workspace and build the package (standalone) with
colcon build --cmake-args "-DMUJOCO_DIR=$HOME/mujoco-3.0.0" --packages-select cartesian_controller_simulation
Getting started
In a sourced terminal, run
export LC_NUMERIC="en_US.UTF-8"
ros2 launch cartesian_controller_simulation simulation.launch.py
The export might not be necessary on your system. It fixes an eventual locals problem and makes sure that you see the robot visualization correctly in RViz. The launch part will start a simulated world with a generic robot model. You can call
ros2 control list_controllers
to get a list of controllers currently managed by the controller_manager.
All of them can be activated and tested in the simulator.
In contrast to ROS1, these controllers are nodes and you can also see them with ros2 node list.
Hardware interfaces for controllers
Exposed interfaces per joint:
-
command_interfaces: position, velocity, stiffness, damping -
state_interfaces: position, velocity
Package Dependencies
System Dependencies
Dependant Packages
| Name | Deps |
|---|---|
| cartesian_controller_tests |
Launch files
Messages
Services
Plugins
Recent questions tagged cartesian_controller_simulation at Robotics Stack Exchange
|
|
cartesian_controller_simulation package from cartesian_controllers repocartesian_compliance_controller cartesian_controller_base cartesian_controller_handles cartesian_controller_simulation cartesian_controller_tests cartesian_controller_utilities cartesian_force_controller cartesian_motion_controller |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 0.0.0 |
| License | BSD-3-Clause |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Description | A set of Cartesian controllers for the ROS1 and ROS2-control framework. |
| Checkout URI | https://github.com/fzi-forschungszentrum-informatik/cartesian_controllers.git |
| VCS Type | git |
| VCS Version | ros2 |
| Last Updated | 2024-10-30 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- scherzin
Authors
Cartesian Controller Simulation
This package provides a simulated robot for controller development and testing.
Physics engine and rationales
We build the simulator on Todorov’s MuJoCo physics engine, which has been acquired and open-sourced by Google here. This gives us a strong environment to realistically test control and contact phenomena with minimal dependencies.
Build and install
We use MuJoCo in headless mode and don’t need OpenGL-related dependencies.
- Download MuJoCo’s pre-built library package and extract that somewhere. It’s ready-to-use and we will just point to it during the build.
cd $HOME
wget https://github.com/deepmind/mujoco/releases/download/3.0.0/mujoco-3.0.0-linux-x86_64.tar.gz
tar -xf mujoco-3.0.0-linux-x86_64.tar.gz
- Switch to the root of your ROS2 workspace and build the package (standalone) with
colcon build --cmake-args "-DMUJOCO_DIR=$HOME/mujoco-3.0.0" --packages-select cartesian_controller_simulation
Getting started
In a sourced terminal, run
export LC_NUMERIC="en_US.UTF-8"
ros2 launch cartesian_controller_simulation simulation.launch.py
The export might not be necessary on your system. It fixes an eventual locals problem and makes sure that you see the robot visualization correctly in RViz. The launch part will start a simulated world with a generic robot model. You can call
ros2 control list_controllers
to get a list of controllers currently managed by the controller_manager.
All of them can be activated and tested in the simulator.
In contrast to ROS1, these controllers are nodes and you can also see them with ros2 node list.
Hardware interfaces for controllers
Exposed interfaces per joint:
-
command_interfaces: position, velocity, stiffness, damping -
state_interfaces: position, velocity
Package Dependencies
System Dependencies
Dependant Packages
| Name | Deps |
|---|---|
| cartesian_controller_tests |
Launch files
Messages
Services
Plugins
Recent questions tagged cartesian_controller_simulation at Robotics Stack Exchange
|
|
cartesian_controller_simulation package from cartesian_controllers repocartesian_compliance_controller cartesian_controller_base cartesian_controller_handles cartesian_controller_simulation cartesian_controller_tests cartesian_controller_utilities cartesian_force_controller cartesian_motion_controller |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 0.0.0 |
| License | BSD-3-Clause |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Description | A set of Cartesian controllers for the ROS1 and ROS2-control framework. |
| Checkout URI | https://github.com/fzi-forschungszentrum-informatik/cartesian_controllers.git |
| VCS Type | git |
| VCS Version | ros2 |
| Last Updated | 2024-10-30 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- scherzin
Authors
Cartesian Controller Simulation
This package provides a simulated robot for controller development and testing.
Physics engine and rationales
We build the simulator on Todorov’s MuJoCo physics engine, which has been acquired and open-sourced by Google here. This gives us a strong environment to realistically test control and contact phenomena with minimal dependencies.
Build and install
We use MuJoCo in headless mode and don’t need OpenGL-related dependencies.
- Download MuJoCo’s pre-built library package and extract that somewhere. It’s ready-to-use and we will just point to it during the build.
cd $HOME
wget https://github.com/deepmind/mujoco/releases/download/3.0.0/mujoco-3.0.0-linux-x86_64.tar.gz
tar -xf mujoco-3.0.0-linux-x86_64.tar.gz
- Switch to the root of your ROS2 workspace and build the package (standalone) with
colcon build --cmake-args "-DMUJOCO_DIR=$HOME/mujoco-3.0.0" --packages-select cartesian_controller_simulation
Getting started
In a sourced terminal, run
export LC_NUMERIC="en_US.UTF-8"
ros2 launch cartesian_controller_simulation simulation.launch.py
The export might not be necessary on your system. It fixes an eventual locals problem and makes sure that you see the robot visualization correctly in RViz. The launch part will start a simulated world with a generic robot model. You can call
ros2 control list_controllers
to get a list of controllers currently managed by the controller_manager.
All of them can be activated and tested in the simulator.
In contrast to ROS1, these controllers are nodes and you can also see them with ros2 node list.
Hardware interfaces for controllers
Exposed interfaces per joint:
-
command_interfaces: position, velocity, stiffness, damping -
state_interfaces: position, velocity
Package Dependencies
System Dependencies
Dependant Packages
| Name | Deps |
|---|---|
| cartesian_controller_tests |