control.fishing_controller_node

Shared ROS2 node base for fishing tension controllers.

Classes

AdmittanceControllerNode	ROS2 wrapper for Julie's admittance controller.
FishingControllerBase	Common subscriptions, safety checks, and trajectory publishing.
ForceFeedbackControllerNode	ROS2 wrapper for Chaoyi's proportional force-feedback controller.

Functions

load_admittance_config(...)
load_force_feedback_config(...)

Module Contents

class control.fishing_controller_node.AdmittanceControllerNode

Bases: FishingControllerBase

ROS2 wrapper for Julie’s admittance controller.

class control.fishing_controller_node.FishingControllerBase(node_name: str, cfg: control.fishing_control_core.FishingControllerConfig | None = None)

Bases: rclpy.node.Node

Common subscriptions, safety checks, and trajectory publishing.

class control.fishing_controller_node.ForceFeedbackControllerNode

Bases: FishingControllerBase

ROS2 wrapper for Chaoyi’s proportional force-feedback controller.

control.fishing_controller_node.load_admittance_config(node: rclpy.node.Node) → control.fishing_control_core.AdmittanceConfig

control.fishing_controller_node.load_force_feedback_config(node: rclpy.node.Node) → control.fishing_control_core.ForceFeedbackConfig