rewd_controllers/rewd_controllers_plugins.xml at master · personalrobotics/rewd_controllers · GitHub

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<library path="lib/librewd_controllers">
  <class name="rewd_controllers/JointGroupPositionController"
         type="rewd_controllers::JointGroupPositionController"
         base_class_type="controller_interface::ControllerBase">
    <description>
      The JointGroupPositionController tracks position commands. It supports
      position, velocity, and effort joint interfaces. Position- and velocity-
      controlled joints track the desired position with PID. Effort-controlled
      joints track the desired position with PID with a feed-forward term
      computed via inverse dynamics.
    </description>
  </class>

  <class name="rewd_controllers/JointTrajectoryController"
         type="rewd_controllers::JointTrajectoryController"
         base_class_type="controller_interface::ControllerBase">
    <description>
      The JointTrajectoryController implements the FollowJointTrajectory
      action for position, velocity, and effort joint interfaces. Position-
      and velocity-controlled joints track the desired position with PID.
      Effort-controlled joints track the desired position with PID with a
      feed-forward term computed via inverse dynamics.
    </description>
  </class>

  <class name="rewd_controllers/GravityCompensationController"
         type="rewd_controllers::GravityCompensationController"
         base_class_type="controller_interface::ControllerBase">
    <description>
      The GravityCompensationController opposes gravity using inverse dynamics.
      It only supports effort joint interfaces.
    </description>
  </class>

  <class name="rewd_controllers/MoveUntilTouchController"
         type="rewd_controllers::MoveUntilTouchController"
         base_class_type="controller_interface::ControllerBase">
    <description>
      The MoveUntilTouchController implements the FollowJointTrajectory
      action for position, velocity, and effort joint interfaces. Position-
      and velocity-controlled joints track the desired position with PID.
      Effort-controlled joints track the desired position with PID with a
      feed-forward term computed via inverse dynamics.

      In addition, it claims a Force/Torque sensor and terminates execution
      as soon as the force threshold specified by the SetForceTorqueThreshold
      service is exceeded.
    </description>
  </class>

  <class name="rewd_controllers/MoveUntilTouchTopicController"
         type="rewd_controllers::MoveUntilTouchTopicController"
         base_class_type="controller_interface::ControllerBase">
    <description>
      The MoveUntilTouchTopicController is basically the same as the
      MoveUntilTouchController, but it communicates with the Force/Torque sensor
      not through hardware interfaces, but rather through ros topics and action
      clients.

      It implements the FollowJointTrajectory
      action for position, velocity, and effort joint interfaces. Position-
      and velocity-controlled joints track the desired position with PID.
      Effort-controlled joints track the desired position with PID with a
      feed-forward term computed via inverse dynamics.

      In addition, it communicates with a Force/Torque sensor and terminates
      execution as soon as the force threshold specified by the
      SetForceTorqueThreshold service is exceeded.
    </description>
  </class>
</library>