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.
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