Controller

To hand over torque commands to worldHub_, you utilize a controller within the Raisin framework.

In the Raisin system, controllers are dynamically loaded as needed, which can be triggered through the ROS2 service raibo/load_controller. Once loaded, the advance() method of these controllers is called periodically according to a specified frequency set in the config/params.yaml file under the raisin_raibo2 package, with a default rate of 4000 Hz.

if control mode is

PD_PLUS_FEEDFORWARD_TORQUE: robot’s pdtarget, pdgain should be updated.
FORCE_AND_TORQUE: robot’s feedforward torque should be updated.

If a robot’s joint angle or velocity exceeds set limits, the safetyController halts the robot by issuing ZERO_TORQUE or ZERO_VELOCITY commands to ensure safety.

For implementing controllers in Raisin, it’s important to adhere to the naming convention specified. Each controller should be named following the pattern raisin_**_controller, where ** represents a descriptive part of the controller’s functionality.

For practical implementation examples, refer to the raisin_example_controller.zip.

API

Warning

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Warning

doxygenclass: Cannot find class “raisin::controller::ControllerManager” in doxygen xml output for project “raisin” from directory: /home/jemin/raisin_workspace/cmake-build-release/src/raisin/docs/docs/doxygen/xml