Topic/mnaveau/architecture

loco-3d / linear-feedback-controller

RosControl linear feedback controller with pal base estimator and RosTopics external interface.

BSD 2-Clause "Simplified" License

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Topic/mnaveau/architecture #1

Closed MaximilienNaveau closed 1 year ago

MaximilienNaveau commented 2 years ago

This PR is a proposal of architecture around the WBMPC.

It proposes to:

create a default roscontroller that runs at 2kHz on the robot
create a ros-wbmpc-msgs package that deals with the creation of the ROS messages and services types
create a package implementing a ROS server that will read/stream the ros-wbmpc-msgs running the Sobec controller. This package is optional and maybe not worst it. (we have to think how to access to the feet trajectories though...

MaximilienNaveau commented 1 year ago

Thanks a lot ! This is a lot of work very much appreciated. One important point however, I have to plan to use the same architecture to access SASSA, SOLO or Bolt with ros2_control, therefore a believe that the linear_feeback_controller_msgs package should be separated as it will be/should be independent from the specific dependency of the controller.

https://github.com/loco-3d/linear-feedback-controller/issues/5