pr2_controller_manager Documentation

pr2_controller_manager

The controller manager (CM) package provides the infrastructure to run controllers in a hard realtime loop.

• Homepage: http://wiki.ros.org/pr2_controller_manager

PR2 Controller Manager

The C++ API

Users of the pr2 controller manager should never have to interact with the C++ API.

The ROS API

The ROS API of the pr2 controlelr manager is summerized below. For a detailled description, see the project page \url http://ros.org/wiki/pr2_controller_manager

PR2 Controller Manager Node ROS Topics

• ROS topics published by the controller manager node
  • mechanism statistics:
    • mechanism_statistics, pr2_mechanism_msgs_::MechanismStatistics, controller_manager.h
  • joint states:
    • joint_states, sensor_msgs::JointState, controller_manager.h
  • frame transforms:
    • /tf, tf::tfMessage, controller_manager.h

PR2 Controller Manager Node ROS Services

• ROS service publsihed by the controller manager node
  • controller_manager node:
    • list_controllers
    • list_controller_types
    • load_controller
    • unload_controller
    • switch_controller
    • reload_controller_libraries