Writing a Joint Space controller
- Writing a realtime joint controller
This tutorial teaches you how to write a joint space controller that can be executed in the realtime loop of pr2_controller_manager
- Running a realtime joint controller
This tutorial teaches you how to configure and run an existing joint space controller
Adding features to a Joint Space controller
- Communicating with a realtime joint controller
This tutorial teaches you how to communicate with a controller over ROS.
- Adding a PID to a realtime joint controller
This tutorial teaches you how to add a PID object to a realtime joint controller
Debugging and tuning a controller
- Capturing data from a controller
This tutorial teaches you how to store data in a controller and extract it for offline viewing, debugging, and tuning.
- Plotting controller data in matlab or octave
This tutorial teaches you how to visualize the captured state of a controller in matlab or octave.
Writing a Cartesian Space controller
- Implementing a realtime Cartesian controller
This tutorial teaches you how to control a robot in Cartesian space
- Coding a realtime Cartesian controller with KDL
This tutorial gives example code for a realtime Cartesian controller using KDL
- Coding a realtime Cartesian controller with Eigen
This tutorial gives example code for a realtime Cartesian controller using KDL and Eigen
- Writing a realtime Cartesian controller
This tutorial teaches you how to control a robot in Cartesian space
- Running a realtime Cartesian controller
This tutorial teaches you how to configure and run an existing Cartesian space controller
Video Tutorials
Moving the Base (pt 1)
Moving the Base (pt 2)
Moving the Torso and Gripper
Moving the Head
Moving the Arms
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