(motioncontroller_plugins)=

# MotionController Plugins

MotionController interface based plugins are needed to implement a robot
specific way to move the robot itself as long as the end effector or
gripper

## Motion Controller interface API

- {cpp:func}`init <RVCMotionController::RVCMotionControllerInterface::init()>`

  Called upon initialization of the plugin, with a valid `rclcpp::node`
  reference.
  The super has to be called with the same node, for example:

  ```cpp
  bool URPendantMotionController::init(rclcpp::Node::SharedPtr node)
  {
      node_ = node;
      auto res = RVCMotionControllerInterface::init(node_);
  ```

- {cpp:func}`setControllerSpeed <RVCMotionController::RVCMotionControllerInterface::setControllerSpeed()>`

  Change the controller speed, can be manipulator, gripper or both.

- {cpp:func}`sendGoal <RVCMotionController::RVCMotionControllerInterface::sendGoal>` in cartesian space

  Set the target destination of the end effector, the controller decided
  trajectory, timings (taking controllerSpeed in consideration) and,
  ideally, collision maps. The argument is a `const geometry_msgs::msg::Pose`

- {cpp:func}`sendGoal <RVCMotionController::RVCMotionControllerInterface::sendGoal()>` in joint space

  Deprecated API to send target directly in joint space

- {cpp:func}`sendGripperPosition <RVCMotionController::RVCMotionControllerInterface::sendGripperPosition()>`

  set the new end effector position, can be finger closing degree, or
  suction activation for suction gripper

- {cpp:func}`isGoalNear <RVCMotionController::RVCMotionControllerInterface::isGoalNear()>`

  Controller gives an indication if the target is close enough to the
  target

  APIs for the Motion Controller plugin can be found at
  {cpp:class}`RVCMotionControllerInterface <RVCMotionController::RVCMotionControllerInterface>`

## URPendant exemplary plugin

A motion controller plugin showing how to control an unsupported robot, i.e. without
the drivers:

::::{tab-set}
:::{tab-item} **Jazzy**
:sync: tab1

[ros2_control](https://control.ros.org/jazzy/index.html)

:::
:::{tab-item}  **Humble**
:sync: tab2

[ros2_control](https://control.ros.org/humble/index.html)

:::
::::


:::{toctree}
:maxdepth: 3

rvc_interface_apis/interface_apis
:::