ROS IndexNo version for distro humble showing github. Known supported distros are highlighted in the buttons above.
|
whole_body_controllers package from auv_controllers repoauv_control_demos auv_control_msgs auv_controllers controller_common controller_coordinator ik_solvers impedance_controller thruster_allocation_matrix_controller thruster_controllers topic_sensors trajectory_controllers velocity_controllers whole_body_controllers |
ROS Distro
|
Package Summary
| Version | 0.4.1 |
| License | MIT |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Description | Control algorithms for autonomous underwater vehicles (AUVs) and underwater vehicle manipulator systems (UVMS) implemented using ros2_control. |
| Checkout URI | https://github.com/robotic-decision-making-lab/auv_controllers.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2026-02-24 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Whole-body controllers for underwater vehicle manipulator systems
Additional Links
Maintainers
- Evan Palmer
Authors
- Evan Palmer
Whole Body Controllers
This package provides a collection of whole-body controllers for underwater vehicle manipulator systems (UVMS).
Inverse Kinematics Controller
A chainable controller that uses inverse kinematics solvers to compute joint states required to achieve a desired end effector pose. This controller can be used with UVMS that have a single manipulator.
Plugin Library
whole_body_controllers/ik_controller
References
- Target end effector pose $\eta$EE
State Feedback
- Measured system velocity V: Vvehicle, Vmanipulator
- Measured system position q: qvehicle, qmanipulator
Commands
The output of this controller is the solution to the chosen inverse kinematics solver.
Subscribers
- ik_controller/reference [geometry_msgs::msg::Pose]
- ik_controller/vehicle_state [nav_msgs::msg::Odometry]
[!NOTE] The IK controller does not currently support sending manipulator states via a topic interface.
Publishers
- ik_controller/status [auv_control_msgs::msg::IKControllerStateStamped]
CHANGELOG
Changelog for package whole_body_controllers
0.4.1 (2026-02-23)
- Addresses upstream deprecation of the
tf2_ros/buffer.handtf2_ros/transform_listener.hheaders.
0.4.0 (2025-08-01)
0.3.3 (2025-07-29)
0.3.2 (2025-07-22)
- Replaces the deprecated
unlockAndPublishAPI withtry_publish
0.3.1 (2025-07-09)
0.3.0 (2025-06-07)
0.2.1 (2025-06-03)
0.2.0 (2025-05-03)
- Replaces instances of
Eigen::Affine3dwithEigen::Isometry3d - Fixes a bug in the ik_controller reference interfaces where the values sent to the reference interfaces themselves (i.e., not as a message) were not being transformed into the appropriate coordinate frame for Pinocchio.
0.1.0 (2025-04-27)
- Implements an IK controller for controlling a UVMS with a single manipulator
Package Dependencies
System Dependencies
No direct system dependencies.
Dependant Packages
| Name | Deps |
|---|---|
| auv_controllers |
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged whole_body_controllers at Robotics Stack Exchange
No version for distro jazzy showing github. Known supported distros are highlighted in the buttons above.
|
|
whole_body_controllers package from auv_controllers repoauv_control_demos auv_control_msgs auv_controllers controller_common controller_coordinator ik_solvers impedance_controller thruster_allocation_matrix_controller thruster_controllers topic_sensors trajectory_controllers velocity_controllers whole_body_controllers |
ROS Distro
|
Package Summary
| Version | 0.4.1 |
| License | MIT |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Description | Control algorithms for autonomous underwater vehicles (AUVs) and underwater vehicle manipulator systems (UVMS) implemented using ros2_control. |
| Checkout URI | https://github.com/robotic-decision-making-lab/auv_controllers.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2026-02-24 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Whole-body controllers for underwater vehicle manipulator systems
Additional Links
Maintainers
- Evan Palmer
Authors
- Evan Palmer
Whole Body Controllers
This package provides a collection of whole-body controllers for underwater vehicle manipulator systems (UVMS).
Inverse Kinematics Controller
A chainable controller that uses inverse kinematics solvers to compute joint states required to achieve a desired end effector pose. This controller can be used with UVMS that have a single manipulator.
Plugin Library
whole_body_controllers/ik_controller
References
- Target end effector pose $\eta$EE
State Feedback
- Measured system velocity V: Vvehicle, Vmanipulator
- Measured system position q: qvehicle, qmanipulator
Commands
The output of this controller is the solution to the chosen inverse kinematics solver.
Subscribers
- ik_controller/reference [geometry_msgs::msg::Pose]
- ik_controller/vehicle_state [nav_msgs::msg::Odometry]
[!NOTE] The IK controller does not currently support sending manipulator states via a topic interface.
Publishers
- ik_controller/status [auv_control_msgs::msg::IKControllerStateStamped]
CHANGELOG
Changelog for package whole_body_controllers
0.4.1 (2026-02-23)
- Addresses upstream deprecation of the
tf2_ros/buffer.handtf2_ros/transform_listener.hheaders.
0.4.0 (2025-08-01)
0.3.3 (2025-07-29)
0.3.2 (2025-07-22)
- Replaces the deprecated
unlockAndPublishAPI withtry_publish
0.3.1 (2025-07-09)
0.3.0 (2025-06-07)
0.2.1 (2025-06-03)
0.2.0 (2025-05-03)
- Replaces instances of
Eigen::Affine3dwithEigen::Isometry3d - Fixes a bug in the ik_controller reference interfaces where the values sent to the reference interfaces themselves (i.e., not as a message) were not being transformed into the appropriate coordinate frame for Pinocchio.
0.1.0 (2025-04-27)
- Implements an IK controller for controlling a UVMS with a single manipulator
Package Dependencies
System Dependencies
No direct system dependencies.
Dependant Packages
| Name | Deps |
|---|---|
| auv_controllers |
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged whole_body_controllers at Robotics Stack Exchange
No version for distro kilted showing github. Known supported distros are highlighted in the buttons above.
|
|
whole_body_controllers package from auv_controllers repoauv_control_demos auv_control_msgs auv_controllers controller_common controller_coordinator ik_solvers impedance_controller thruster_allocation_matrix_controller thruster_controllers topic_sensors trajectory_controllers velocity_controllers whole_body_controllers |
ROS Distro
|
Package Summary
| Version | 0.4.1 |
| License | MIT |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Description | Control algorithms for autonomous underwater vehicles (AUVs) and underwater vehicle manipulator systems (UVMS) implemented using ros2_control. |
| Checkout URI | https://github.com/robotic-decision-making-lab/auv_controllers.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2026-02-24 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Whole-body controllers for underwater vehicle manipulator systems
Additional Links
Maintainers
- Evan Palmer
Authors
- Evan Palmer
Whole Body Controllers
This package provides a collection of whole-body controllers for underwater vehicle manipulator systems (UVMS).
Inverse Kinematics Controller
A chainable controller that uses inverse kinematics solvers to compute joint states required to achieve a desired end effector pose. This controller can be used with UVMS that have a single manipulator.
Plugin Library
whole_body_controllers/ik_controller
References
- Target end effector pose $\eta$EE
State Feedback
- Measured system velocity V: Vvehicle, Vmanipulator
- Measured system position q: qvehicle, qmanipulator
Commands
The output of this controller is the solution to the chosen inverse kinematics solver.
Subscribers
- ik_controller/reference [geometry_msgs::msg::Pose]
- ik_controller/vehicle_state [nav_msgs::msg::Odometry]
[!NOTE] The IK controller does not currently support sending manipulator states via a topic interface.
Publishers
- ik_controller/status [auv_control_msgs::msg::IKControllerStateStamped]
CHANGELOG
Changelog for package whole_body_controllers
0.4.1 (2026-02-23)
- Addresses upstream deprecation of the
tf2_ros/buffer.handtf2_ros/transform_listener.hheaders.
0.4.0 (2025-08-01)
0.3.3 (2025-07-29)
0.3.2 (2025-07-22)
- Replaces the deprecated
unlockAndPublishAPI withtry_publish
0.3.1 (2025-07-09)
0.3.0 (2025-06-07)
0.2.1 (2025-06-03)
0.2.0 (2025-05-03)
- Replaces instances of
Eigen::Affine3dwithEigen::Isometry3d - Fixes a bug in the ik_controller reference interfaces where the values sent to the reference interfaces themselves (i.e., not as a message) were not being transformed into the appropriate coordinate frame for Pinocchio.
0.1.0 (2025-04-27)
- Implements an IK controller for controlling a UVMS with a single manipulator
Package Dependencies
System Dependencies
No direct system dependencies.
Dependant Packages
| Name | Deps |
|---|---|
| auv_controllers |
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged whole_body_controllers at Robotics Stack Exchange
No version for distro rolling showing github. Known supported distros are highlighted in the buttons above.
|
|
whole_body_controllers package from auv_controllers repoauv_control_demos auv_control_msgs auv_controllers controller_common controller_coordinator ik_solvers impedance_controller thruster_allocation_matrix_controller thruster_controllers topic_sensors trajectory_controllers velocity_controllers whole_body_controllers |
ROS Distro
|
Package Summary
| Version | 0.4.1 |
| License | MIT |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Description | Control algorithms for autonomous underwater vehicles (AUVs) and underwater vehicle manipulator systems (UVMS) implemented using ros2_control. |
| Checkout URI | https://github.com/robotic-decision-making-lab/auv_controllers.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2026-02-24 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Whole-body controllers for underwater vehicle manipulator systems
Additional Links
Maintainers
- Evan Palmer
Authors
- Evan Palmer
Whole Body Controllers
This package provides a collection of whole-body controllers for underwater vehicle manipulator systems (UVMS).
Inverse Kinematics Controller
A chainable controller that uses inverse kinematics solvers to compute joint states required to achieve a desired end effector pose. This controller can be used with UVMS that have a single manipulator.
Plugin Library
whole_body_controllers/ik_controller
References
- Target end effector pose $\eta$EE
State Feedback
- Measured system velocity V: Vvehicle, Vmanipulator
- Measured system position q: qvehicle, qmanipulator
Commands
The output of this controller is the solution to the chosen inverse kinematics solver.
Subscribers
- ik_controller/reference [geometry_msgs::msg::Pose]
- ik_controller/vehicle_state [nav_msgs::msg::Odometry]
[!NOTE] The IK controller does not currently support sending manipulator states via a topic interface.
Publishers
- ik_controller/status [auv_control_msgs::msg::IKControllerStateStamped]
CHANGELOG
Changelog for package whole_body_controllers
0.4.1 (2026-02-23)
- Addresses upstream deprecation of the
tf2_ros/buffer.handtf2_ros/transform_listener.hheaders.
0.4.0 (2025-08-01)
0.3.3 (2025-07-29)
0.3.2 (2025-07-22)
- Replaces the deprecated
unlockAndPublishAPI withtry_publish
0.3.1 (2025-07-09)
0.3.0 (2025-06-07)
0.2.1 (2025-06-03)
0.2.0 (2025-05-03)
- Replaces instances of
Eigen::Affine3dwithEigen::Isometry3d - Fixes a bug in the ik_controller reference interfaces where the values sent to the reference interfaces themselves (i.e., not as a message) were not being transformed into the appropriate coordinate frame for Pinocchio.
0.1.0 (2025-04-27)
- Implements an IK controller for controlling a UVMS with a single manipulator
Package Dependencies
System Dependencies
No direct system dependencies.
Dependant Packages
| Name | Deps |
|---|---|
| auv_controllers |
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged whole_body_controllers at Robotics Stack Exchange
|
|
whole_body_controllers package from auv_controllers repoauv_control_demos auv_control_msgs auv_controllers controller_common controller_coordinator ik_solvers impedance_controller thruster_allocation_matrix_controller thruster_controllers topic_sensors trajectory_controllers velocity_controllers whole_body_controllers |
ROS Distro
|
Package Summary
| Version | 0.4.1 |
| License | MIT |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Description | Control algorithms for autonomous underwater vehicles (AUVs) and underwater vehicle manipulator systems (UVMS) implemented using ros2_control. |
| Checkout URI | https://github.com/robotic-decision-making-lab/auv_controllers.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2026-02-24 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Whole-body controllers for underwater vehicle manipulator systems
Additional Links
Maintainers
- Evan Palmer
Authors
- Evan Palmer
Whole Body Controllers
This package provides a collection of whole-body controllers for underwater vehicle manipulator systems (UVMS).
Inverse Kinematics Controller
A chainable controller that uses inverse kinematics solvers to compute joint states required to achieve a desired end effector pose. This controller can be used with UVMS that have a single manipulator.
Plugin Library
whole_body_controllers/ik_controller
References
- Target end effector pose $\eta$EE
State Feedback
- Measured system velocity V: Vvehicle, Vmanipulator
- Measured system position q: qvehicle, qmanipulator
Commands
The output of this controller is the solution to the chosen inverse kinematics solver.
Subscribers
- ik_controller/reference [geometry_msgs::msg::Pose]
- ik_controller/vehicle_state [nav_msgs::msg::Odometry]
[!NOTE] The IK controller does not currently support sending manipulator states via a topic interface.
Publishers
- ik_controller/status [auv_control_msgs::msg::IKControllerStateStamped]
CHANGELOG
Changelog for package whole_body_controllers
0.4.1 (2026-02-23)
- Addresses upstream deprecation of the
tf2_ros/buffer.handtf2_ros/transform_listener.hheaders.
0.4.0 (2025-08-01)
0.3.3 (2025-07-29)
0.3.2 (2025-07-22)
- Replaces the deprecated
unlockAndPublishAPI withtry_publish
0.3.1 (2025-07-09)
0.3.0 (2025-06-07)
0.2.1 (2025-06-03)
0.2.0 (2025-05-03)
- Replaces instances of
Eigen::Affine3dwithEigen::Isometry3d - Fixes a bug in the ik_controller reference interfaces where the values sent to the reference interfaces themselves (i.e., not as a message) were not being transformed into the appropriate coordinate frame for Pinocchio.
0.1.0 (2025-04-27)
- Implements an IK controller for controlling a UVMS with a single manipulator
Package Dependencies
System Dependencies
No direct system dependencies.
Dependant Packages
| Name | Deps |
|---|---|
| auv_controllers |
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged whole_body_controllers at Robotics Stack Exchange
No version for distro galactic showing github. Known supported distros are highlighted in the buttons above.
|
|
whole_body_controllers package from auv_controllers repoauv_control_demos auv_control_msgs auv_controllers controller_common controller_coordinator ik_solvers impedance_controller thruster_allocation_matrix_controller thruster_controllers topic_sensors trajectory_controllers velocity_controllers whole_body_controllers |
ROS Distro
|
Package Summary
| Version | 0.4.1 |
| License | MIT |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Description | Control algorithms for autonomous underwater vehicles (AUVs) and underwater vehicle manipulator systems (UVMS) implemented using ros2_control. |
| Checkout URI | https://github.com/robotic-decision-making-lab/auv_controllers.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2026-02-24 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Whole-body controllers for underwater vehicle manipulator systems
Additional Links
Maintainers
- Evan Palmer
Authors
- Evan Palmer
Whole Body Controllers
This package provides a collection of whole-body controllers for underwater vehicle manipulator systems (UVMS).
Inverse Kinematics Controller
A chainable controller that uses inverse kinematics solvers to compute joint states required to achieve a desired end effector pose. This controller can be used with UVMS that have a single manipulator.
Plugin Library
whole_body_controllers/ik_controller
References
- Target end effector pose $\eta$EE
State Feedback
- Measured system velocity V: Vvehicle, Vmanipulator
- Measured system position q: qvehicle, qmanipulator
Commands
The output of this controller is the solution to the chosen inverse kinematics solver.
Subscribers
- ik_controller/reference [geometry_msgs::msg::Pose]
- ik_controller/vehicle_state [nav_msgs::msg::Odometry]
[!NOTE] The IK controller does not currently support sending manipulator states via a topic interface.
Publishers
- ik_controller/status [auv_control_msgs::msg::IKControllerStateStamped]
CHANGELOG
Changelog for package whole_body_controllers
0.4.1 (2026-02-23)
- Addresses upstream deprecation of the
tf2_ros/buffer.handtf2_ros/transform_listener.hheaders.
0.4.0 (2025-08-01)
0.3.3 (2025-07-29)
0.3.2 (2025-07-22)
- Replaces the deprecated
unlockAndPublishAPI withtry_publish
0.3.1 (2025-07-09)
0.3.0 (2025-06-07)
0.2.1 (2025-06-03)
0.2.0 (2025-05-03)
- Replaces instances of
Eigen::Affine3dwithEigen::Isometry3d - Fixes a bug in the ik_controller reference interfaces where the values sent to the reference interfaces themselves (i.e., not as a message) were not being transformed into the appropriate coordinate frame for Pinocchio.
0.1.0 (2025-04-27)
- Implements an IK controller for controlling a UVMS with a single manipulator
Package Dependencies
System Dependencies
No direct system dependencies.
Dependant Packages
| Name | Deps |
|---|---|
| auv_controllers |
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged whole_body_controllers at Robotics Stack Exchange
No version for distro iron showing github. Known supported distros are highlighted in the buttons above.
|
|
whole_body_controllers package from auv_controllers repoauv_control_demos auv_control_msgs auv_controllers controller_common controller_coordinator ik_solvers impedance_controller thruster_allocation_matrix_controller thruster_controllers topic_sensors trajectory_controllers velocity_controllers whole_body_controllers |
ROS Distro
|
Package Summary
| Version | 0.4.1 |
| License | MIT |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Description | Control algorithms for autonomous underwater vehicles (AUVs) and underwater vehicle manipulator systems (UVMS) implemented using ros2_control. |
| Checkout URI | https://github.com/robotic-decision-making-lab/auv_controllers.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2026-02-24 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Whole-body controllers for underwater vehicle manipulator systems
Additional Links
Maintainers
- Evan Palmer
Authors
- Evan Palmer
Whole Body Controllers
This package provides a collection of whole-body controllers for underwater vehicle manipulator systems (UVMS).
Inverse Kinematics Controller
A chainable controller that uses inverse kinematics solvers to compute joint states required to achieve a desired end effector pose. This controller can be used with UVMS that have a single manipulator.
Plugin Library
whole_body_controllers/ik_controller
References
- Target end effector pose $\eta$EE
State Feedback
- Measured system velocity V: Vvehicle, Vmanipulator
- Measured system position q: qvehicle, qmanipulator
Commands
The output of this controller is the solution to the chosen inverse kinematics solver.
Subscribers
- ik_controller/reference [geometry_msgs::msg::Pose]
- ik_controller/vehicle_state [nav_msgs::msg::Odometry]
[!NOTE] The IK controller does not currently support sending manipulator states via a topic interface.
Publishers
- ik_controller/status [auv_control_msgs::msg::IKControllerStateStamped]
CHANGELOG
Changelog for package whole_body_controllers
0.4.1 (2026-02-23)
- Addresses upstream deprecation of the
tf2_ros/buffer.handtf2_ros/transform_listener.hheaders.
0.4.0 (2025-08-01)
0.3.3 (2025-07-29)
0.3.2 (2025-07-22)
- Replaces the deprecated
unlockAndPublishAPI withtry_publish
0.3.1 (2025-07-09)
0.3.0 (2025-06-07)
0.2.1 (2025-06-03)
0.2.0 (2025-05-03)
- Replaces instances of
Eigen::Affine3dwithEigen::Isometry3d - Fixes a bug in the ik_controller reference interfaces where the values sent to the reference interfaces themselves (i.e., not as a message) were not being transformed into the appropriate coordinate frame for Pinocchio.
0.1.0 (2025-04-27)
- Implements an IK controller for controlling a UVMS with a single manipulator
Package Dependencies
System Dependencies
No direct system dependencies.
Dependant Packages
| Name | Deps |
|---|---|
| auv_controllers |
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged whole_body_controllers at Robotics Stack Exchange
No version for distro melodic showing github. Known supported distros are highlighted in the buttons above.
|
|
whole_body_controllers package from auv_controllers repoauv_control_demos auv_control_msgs auv_controllers controller_common controller_coordinator ik_solvers impedance_controller thruster_allocation_matrix_controller thruster_controllers topic_sensors trajectory_controllers velocity_controllers whole_body_controllers |
ROS Distro
|
Package Summary
| Version | 0.4.1 |
| License | MIT |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Description | Control algorithms for autonomous underwater vehicles (AUVs) and underwater vehicle manipulator systems (UVMS) implemented using ros2_control. |
| Checkout URI | https://github.com/robotic-decision-making-lab/auv_controllers.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2026-02-24 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Whole-body controllers for underwater vehicle manipulator systems
Additional Links
Maintainers
- Evan Palmer
Authors
- Evan Palmer
Whole Body Controllers
This package provides a collection of whole-body controllers for underwater vehicle manipulator systems (UVMS).
Inverse Kinematics Controller
A chainable controller that uses inverse kinematics solvers to compute joint states required to achieve a desired end effector pose. This controller can be used with UVMS that have a single manipulator.
Plugin Library
whole_body_controllers/ik_controller
References
- Target end effector pose $\eta$EE
State Feedback
- Measured system velocity V: Vvehicle, Vmanipulator
- Measured system position q: qvehicle, qmanipulator
Commands
The output of this controller is the solution to the chosen inverse kinematics solver.
Subscribers
- ik_controller/reference [geometry_msgs::msg::Pose]
- ik_controller/vehicle_state [nav_msgs::msg::Odometry]
[!NOTE] The IK controller does not currently support sending manipulator states via a topic interface.
Publishers
- ik_controller/status [auv_control_msgs::msg::IKControllerStateStamped]
CHANGELOG
Changelog for package whole_body_controllers
0.4.1 (2026-02-23)
- Addresses upstream deprecation of the
tf2_ros/buffer.handtf2_ros/transform_listener.hheaders.
0.4.0 (2025-08-01)
0.3.3 (2025-07-29)
0.3.2 (2025-07-22)
- Replaces the deprecated
unlockAndPublishAPI withtry_publish
0.3.1 (2025-07-09)
0.3.0 (2025-06-07)
0.2.1 (2025-06-03)
0.2.0 (2025-05-03)
- Replaces instances of
Eigen::Affine3dwithEigen::Isometry3d - Fixes a bug in the ik_controller reference interfaces where the values sent to the reference interfaces themselves (i.e., not as a message) were not being transformed into the appropriate coordinate frame for Pinocchio.
0.1.0 (2025-04-27)
- Implements an IK controller for controlling a UVMS with a single manipulator
Package Dependencies
System Dependencies
No direct system dependencies.
Dependant Packages
| Name | Deps |
|---|---|
| auv_controllers |
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged whole_body_controllers at Robotics Stack Exchange
No version for distro noetic showing github. Known supported distros are highlighted in the buttons above.
|
|
whole_body_controllers package from auv_controllers repoauv_control_demos auv_control_msgs auv_controllers controller_common controller_coordinator ik_solvers impedance_controller thruster_allocation_matrix_controller thruster_controllers topic_sensors trajectory_controllers velocity_controllers whole_body_controllers |
ROS Distro
|
Package Summary
| Version | 0.4.1 |
| License | MIT |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Description | Control algorithms for autonomous underwater vehicles (AUVs) and underwater vehicle manipulator systems (UVMS) implemented using ros2_control. |
| Checkout URI | https://github.com/robotic-decision-making-lab/auv_controllers.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2026-02-24 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Whole-body controllers for underwater vehicle manipulator systems
Additional Links
Maintainers
- Evan Palmer
Authors
- Evan Palmer
Whole Body Controllers
This package provides a collection of whole-body controllers for underwater vehicle manipulator systems (UVMS).
Inverse Kinematics Controller
A chainable controller that uses inverse kinematics solvers to compute joint states required to achieve a desired end effector pose. This controller can be used with UVMS that have a single manipulator.
Plugin Library
whole_body_controllers/ik_controller
References
- Target end effector pose $\eta$EE
State Feedback
- Measured system velocity V: Vvehicle, Vmanipulator
- Measured system position q: qvehicle, qmanipulator
Commands
The output of this controller is the solution to the chosen inverse kinematics solver.
Subscribers
- ik_controller/reference [geometry_msgs::msg::Pose]
- ik_controller/vehicle_state [nav_msgs::msg::Odometry]
[!NOTE] The IK controller does not currently support sending manipulator states via a topic interface.
Publishers
- ik_controller/status [auv_control_msgs::msg::IKControllerStateStamped]
CHANGELOG
Changelog for package whole_body_controllers
0.4.1 (2026-02-23)
- Addresses upstream deprecation of the
tf2_ros/buffer.handtf2_ros/transform_listener.hheaders.
0.4.0 (2025-08-01)
0.3.3 (2025-07-29)
0.3.2 (2025-07-22)
- Replaces the deprecated
unlockAndPublishAPI withtry_publish
0.3.1 (2025-07-09)
0.3.0 (2025-06-07)
0.2.1 (2025-06-03)
0.2.0 (2025-05-03)
- Replaces instances of
Eigen::Affine3dwithEigen::Isometry3d - Fixes a bug in the ik_controller reference interfaces where the values sent to the reference interfaces themselves (i.e., not as a message) were not being transformed into the appropriate coordinate frame for Pinocchio.
0.1.0 (2025-04-27)
- Implements an IK controller for controlling a UVMS with a single manipulator
Package Dependencies
System Dependencies
No direct system dependencies.
Dependant Packages
| Name | Deps |
|---|---|
| auv_controllers |
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.