[FEATURE]: Integrate interface for developing custom controllers #5
Description
Feature Type
Adding new functionality to the BlueROV2 driver
Problem Description
To support the development of integral sliding mode control and other custom controllers, it would be useful to define a base controller class that provides common functionality and interfaces for creating a controller using the BlueROV2 driver.
Feature Description
A new virtual class should be defined which ports the existing blue_bridge implementation. Furthermore, the class should provide an easy-to-use interface for developing new BlueROV2 controllers.
Alternative Solutions
Alternatively, the existing control architecture could be maintained such that the blue_bridge package remains independent and only SMC is implemented. However, to support the development of new controllers and experimentation with existing controllers, it becomes valuable to have a single common interface.
Additional Context
No response