Implemented a controller coordinator #63
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evan-palmer
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Jun 7, 2025
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Jun 9, 2025
* Fixed stale demos * Update package versions * Fix obsolete tf2 header * Added a coordinator to activate controllers/hardware * Address pr comments (cherry picked from commit 289f6e0) # Conflicts: # auv_control_demos/CHANGELOG.md # auv_control_demos/package.xml # auv_control_msgs/CHANGELOG.md # auv_control_msgs/package.xml # auv_controllers/CHANGELOG.md # auv_controllers/package.xml # controller_common/CHANGELOG.md # controller_common/package.xml # end_effector_trajectory_controller/CHANGELOG.md # end_effector_trajectory_controller/package.xml # ik_solvers/CHANGELOG.md # ik_solvers/package.xml # thruster_allocation_matrix_controller/CHANGELOG.md # thruster_allocation_matrix_controller/package.xml # thruster_controllers/CHANGELOG.md # thruster_controllers/package.xml # topic_sensors/CHANGELOG.md # topic_sensors/package.xml # velocity_controllers/CHANGELOG.md # velocity_controllers/package.xml # whole_body_controllers/CHANGELOG.md # whole_body_controllers/package.xml
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Changes Made
This PR implements a coordinator to manage activating and deactivating controllers using a single endpoint. This feature is motivated by the desire to launch controllers in a single launch file, but waiting to activate them until a future point. Such a scenario occurs when you want to switch back and forth between a company-provided control system and a custom control system.
Testing
Tested using the BlueROV2 Heavy and in simulation using Blue