Thoughts on composite controllers?

[jbohren]

A while back I put some composite controllers together for adding the outputs of controllers together by just making a controller into a hierarchical structure. It works with un-modified ros_control.

https://github.com/jhu-lcsr/composite_controllers

Any feedback is welcome!

[davetcoleman]

I'm going to assume you've given up on this feature? Should this issue be closed?

[jbohren]

Yes, and yes.

[maxpolzin]

It is a pity you gave up on this. Now I have to create my own composite controller (effort+velocity), by implementing a new controller for ros_control.

[jbohren]

👍 necromancer.

Shouldn't it be better effort_average, instead of effort_sum in your example of a composite controller?

The motivating use case here was combining an inverse dynamics controller with some other effort controller, hence the sum.

It is a pity you gave up on this. Now I have to create my own composite controller (effort+velocity), by implementing a new controller for ros_control.

It quickly became apparent that I needed something more sophisticated, so I ended up using Orocos RTT, and built up this framework:

https://github.com/jbohren/conman

[maxpolzin]

Thanks a lot for the explanation.
And thanks for pointing me to the other framework.