Writing a basic joint controller in ROS

The basic prerequisites for writing a ROS controller are already installed. We have discussed the underlying concepts of controllers. Now, we can start creating a package for our controller.

We are going to develop a controller that can access a joint of the robot and move the robot in a sinusoidal fashion. In particular, the first joint of the seven-DOF arm will follow a sinusoidal motion.

The procedure for building a controller is similar to other plugin development that we have seen earlier. The procedure to create a ROS controller is as follows:

1. Create a ROS package with the necessary dependencies.
2. Write controller code in C++.
3. Register or export the C++ class as a plugin.
4. Define the plugin definition in an XML file.
5. Edit the CMakeLists.txt and package.xml files for exporting the plugin.
6. Write the configuration for our controller.
7. Load the controller using the controller manager.

Let&apos...