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#

  • 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:

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

  • setControllerSpeed

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

  • 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

  • sendGoal in joint space

    Deprecated API to send target directly in joint space

  • sendGripperPosition

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

  • isGoalNear

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

    APIs for the Motion Controller plugin can be found at RVCMotionControllerInterface

URPendant exemplary plugin#

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

ros2_control

ros2_control