This repository contains ROS2 controller packages for the extender project, providing various control strategies for robot manipulators including teleoperation, trajectory execution, and shared control paradigms.
Package: cartesian_velocity
A ROS2 controller that provides teleoperation control for robot manipulators in Cartesian space. This controller subscribes to teleoperation commands (typically from a joystick interface) and converts them into Cartesian velocity commands for smooth robot control.
Use Cases: Direct teleoperation, joystick control, velocity-based manipulation tasks.
Package: joint_position_interpolator
A ROS2 controller that provides smooth joint-space trajectory interpolation for robot manipulators. The controller computes and executes trajectories from the current joint configuration to desired target positions with configurable velocity limits.
Use Cases: Point-to-point motion, joint-space trajectory execution, safe joint positioning.
Package: kinematic_guides_cartesian_velocity
A ROS2 controller that implements shared control teleoperation for robot manipulators with kinematic guidance assistance. This controller blends user input with goal-directed assistance to provide intuitive and efficient teleoperation while maintaining user agency.
Use Cases: Assisted teleoperation, goal-directed manipulation, human-robot collaboration tasks.
When adding new controllers to this repository:
- Follow the established naming and structure conventions
- Include comprehensive documentation (README, parameter descriptions)
- Provide launch files for common use cases
- Add appropriate tests and validation
- Update this global README with the new controller information