ROS control package

ros_control is a package in the ROS ecosystem designed for implementing and managing robot control systems. It provides a standardized and modular approach to controlling hardware interfaces, making it particularly suitable for robotic arms and similar systems.

Niryo robots rely heavily on this package to execute the following operations:

  1. Real-Time Capabilities: The framework is built with real-time performance in mind, ensuring precise and responsive control for robotic actuators.

  2. Modular Architecture: It uses controllers as modular components that can be dynamically loaded, swapped, or tuned at runtime.

  3. Support for Multiple Control Types: Although the motors of Niryo robots are currently controlled only in position mode, ros_control supports various types of controllers, including: - Position controllers - Velocity controllers - Effort (torque/force) controllers

  4. Integration with ROS: ros_control integrates seamlessly with ROS topics, services, and parameters, allowing for smooth communication between the control layer and other ROS nodes.

  5. Flexibility for Complex Systems: It is ideal for multi-actuator systems like robotic arms, enabling coordinated motion.