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ros-controls / ros2_controllers

Generic robotic controllers to accompany ros2_control
https://control.ros.org
Apache License 2.0
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[ROS2_controller] Add community controllers in "Controllers for Mobile Robots" list on ROS2_control doc #1098

Open robotcopper opened 2 months ago

robotcopper commented 2 months ago

Feature description:

Hi, is it possible to add at least a community controllers list to the Controllers for Mobile Robots list already existing on control.ros.org?

Objectif description:

Even include controllers created by the community in the official documentation so that @mateusmenezes95's three-wheeled omnidirectional robot controller can be added.To avoid the difficulty of finding these controllers.

Feature alternative:

Include @mateusmenezes95's three-wheeled omnidirectional robot controller in Controllers for Mobile Robots list in the official documentation.

christophfroehlich commented 2 months ago

Hi! Yes, this would be possible. But maybe @mateusmenezes95 wants to contribute to the ros2_controllers repository and add his controllers here? I see that there is already some documentation: I would be glad to add the omni-directional robots to the docs, which I started here (reviews are very welcome!)

mateusmenezes95 commented 2 months ago

Hello @christophfroehlich

Merge the omnidirectional_controller into the official ros2_controllera repo would be a pleasure. However, I am concerned with two points. First, this controller has yet to be tested on a real robot; I only tested it in simulation. Thus, I don't know its maturity level in embedding in a real robot. Secondly, I need to implement some unit tests for the controller, but I won't be able to until the second semester of this year. I'm pretty busy right now finishing up my master's degree, but I'll get on it as soon as I can.

Thus, I think the link is enough by now, but in the second semester, we can try to merge it into the official repository.

christophfroehlich commented 2 months ago

Nice to hear. I see that there are already some tests there, there is not a lot missing to catch up with the controllers from our repo here (could be more though). And some work needs to be done to migrate the controller to the rolling branch, because we don't merge new features in non-rolling versions.