The controller manager (CM) package provides the infrastructure to run controllers in a hard realtime loop.
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 http://ros.org/wiki/pr2_controller_manager
PR2 Controller Manager Node ROS Topics
- ROS topics published by the controller manager node
- mechanism statistics:
- joint states:
- frame transforms:
PR2 Controller Manager Node ROS Services
- ROS service publsihed by the controller manager node
- controller_manager node: