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control-ctrl_types

Basic data typed for dynamic robot control

control-generic_rover_manoeuvre

Rover manoeuvre commands to motor commands calculation for a general rover

control-hysteresis_model

Implementation of a Bouc-When hysteresis model with calibration methods. It is used to calibrate a deflection-to-torque in an actuator that has an elastic coupling

control-joint_control_base

Typedefs for the trajectory generation task library

control-joint_dispatcher

Generic implementation of a N-to-M mapping for base::samples::Joints. It allows to define arbitrary dispatches of joints, either by name or by index, and manage the input->output process.

control-joint_tools

Basic tools for manipulation of joints

control-kdl_conversions

Helper to convert from KDL to base types and vice versa

control-kdl_parser

Library for parsing URDF files into KDL kinematic tree. Ported from ROS.

control-motor_controller

Set of simple controllers for actuators. It includes a PID controller implementation, and a PIV controller implementation. PIV controllers allow to control motors in speed (velocity) while correcting for position drifts. It is useful to keep position synchronization between wheels while allowing local divergence in speed.

control-orogen-auv_control

Component-based structure for 6DOF AUV control

control-orogen-auv_raw_command_converter

Converts RawCommand's generated by controldev devices to LinearAngular6DCommand's

control-orogen-auv_rel_pos_controller

Relative position controller for autonomous underwater vehicle

control-orogen-cart_ctrl_wdls

Cartesian controller based on KDL's wdls solver

control-orogen-joint_dispatcher

oroGen component for the base::samples::Joints dispatch functionality

control-orogen-joint_tools

Components generally useful in networks that deal with joints

control-orogen-kdl

oroGen types for using the Orocos Kinematics Dynamics Library

control-orogen-motor_controller

Generic components to control sets of actuators

control-orogen-robot_frames

oroGen component for robot_frames library

control-orogen-skid4_control

Simple controllers for four-wheeled, skid-steering systems

control-orogen-torque_estimator

Torque estimator for actuators that contain an elastic coupling. It also generates the ground contact forces (traction and reaction) for systems that have leg-wheels such as the asguard system

control-orogen-trajectory_follower

oroGen integration of a trajectory following controller

control-orogen-trajectory_generation

This orogen component uses the reflexxes library to generate motion commands based on the current state of the system, the target state and motion constraints.

control-orogen-trajectory_planner

control-orogen-uwv_dynamic_model

Motion model simulation

control-orogen-visp

oroGen integration of VISP, a visual servoing library

control-orogen-waypoint_navigation

oroGen-based simple waypoint-based navigation for rovers

control-reflexxes

The Reflexxes Motion Libraries provide instantaneous trajectory generation capabilities for motion control systems. Robots and servo drive controllers become capable of reacting instantaneously to unforeseen sensor signals and events. Copyright (C) 2013 Reflexxes GmbH

control-robot_frames

Calculates frame transforations for each joint in a robot.

control-ruby_sdformat

Pure-ruby library to load SDF (http://sdformat.org) files

control-trajectory_follower

An implementation of a trajectory following controller.