LCSR Controllers

This repository contains Orocos-RTT-based robot controllers meant for use with ROS and the Conman controller manager.

Controllers

Effort-Outputting Controllers

Joint-Space PID Controller
Inverse-Dynamics Controller

Trajectory-Generators

Joint Trajectory Generator
- KDL Trapezoidal Profile lcsr_controllers::JointTrajGeneratorKDL
- Reflexxes Type-2 Interpolation lcsr_controllers::JointTrajGeneratorRML

Trajectory Controllers

Semi-Absolute Calibration Controller