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Robotic-Decision-Making-Lab / blue

ROS 2 platform for underwater robotics research and development.
https://robotic-decision-making-lab.github.io/blue/
MIT License
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[FEATURE]: Improve support for different types of controllers #58

Closed evan-palmer closed 5 months ago

evan-palmer commented 1 year ago

Feature Type

Changing existing functionality in the BlueROV2 driver

Problem Description

The existing base controller implementation is targeted specifically towards the development of velocity controllers. This covers a pretty broad span of controllers that folks may want to integrate, but it also leaves out the option for integration of position, force, and other types of control.

Feature Description

This depends on how integration/acceptance of #33 goes, but one general idea is to refactor the base controller to include only the components needed for general controller implementation, then create subdirectories for each different type of controller.

Alternative Solutions

I would ideally like to utilize ros2_control to make this integration a bit easier, but I am still on the edge with regards to integrating that. Closing that issue will take priority over this one as that may include a significant architectural change.

Additional Context

No response

evan-palmer commented 1 year ago

This will come with the integration of either pluginlib or ros2_control

evan-palmer commented 5 months ago

Duplicate of #33