[Example 12] Controller chaining example #318
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Thanks a lot, nice example!
I tried add a picture of the chain with view_controller_chains, but there seems to be an issue
ros-controls/ros2_control#1095
The example itself seem to work, so let's add the picture later once the cli script is fixed.
example_12/controllers/include/passthrough_controller/passthrough_controller.hpp
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Maybe one thing which is not clear for me: Why does one need the 2nd level position_controller? I tried to directly link the first-level controllers to the forward_position_controller and it seems to work, too. Is this just for demonstration reasons I guess? |
Yes exactly, this is just for demonstration purposes. |
Co-authored-by: Christoph Fröhlich <christophfroehlich@users.noreply.github.com>
Could you just add a single sentence about that, maybe below literal 5? |
Done :) |
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@Mergifyio backport humble |
✅ Backports have been created
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Co-authored-by: Christoph Froehlich <christoph.froehlich@ait.ac.at> (cherry picked from commit 2968016)
* [Example 12] Controller chaining example (#318) Co-authored-by: Christoph Froehlich <christoph.froehlich@ait.ac.at> (cherry picked from commit 2968016) * remove the arguments from update_reference_from_subscribers to backport to humble (#336) --------- Co-authored-by: Sai Kishor Kothakota <sai.kishor@pal-robotics.com>
This PR is to write an example of controller chaining consolidating the PR's #162 and ros-controls/ros2_controllers#556.