rp_controller

The Robotic Platform controller package

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README

rp_controller

This package implements custom ROS 2 Control controllers.

Controller Plugins

rp_gpio_controller

ROS 2 Control controller exposing GPIO hardware interfaces of the robot based on its configuration. The inputs have state interfaces defined. The outputs have both state and command interfaces defined. The state interfaces are exposed as ROS 2 topics. The command interfaces are exposed as ROS 2 services.

rp_vacuum_gripper_controller

ROS 2 Control controller specific to vacuum grippers controlled by two GPIO pins (suction and blowoff). The suction and blowoff functionalities are exposed as a ROS 2 SetBool service that triggers the gripper. The suction state is exposed as a ROS 2 topic.

ROS Parameters

Please refer to rp_gpio_controller_parameters.md and rp_vacuum_gripper_controller_params_definition.md files.

_Note: In order to update parameters.md file, go to package directory and use commands:

generate_parameter_library_markdown --input_yaml src/rp_gpio_controller_params_definition.yaml --output_markdown_file docs/rp_gpio_controller_parameters.md

generate_parameter_library_markdown --input_yaml src/rp_vacuum_gripper_controller_params_definition.yaml --output_markdown_file docs/rp_vacuum_gripper_controller_parameters.md