control

Tension controllers for the robotic fishing arm (admittance and force feedback).

• Build type: ament_python

• Version: 0.0.0

• License: MIT

• Maintainer(s): nzge

• Source: src/control/

Executables

Command (ros2 run)	Target
ros2 run control admittance_node	control.admittance_controller:main
ros2 run control force_feedback_node	control.force_feedback_controller:main
ros2 run control position_test_publisher	control.position_test_publisher:main

Launch files

control.launch.py

ros2 launch control control.launch.py

Launch argument	Default	Description
controller_type	admittance	Tension controller: admittance (Julie), force_feedback (Chaoyi), or none
use_sim	true	Layer params_hw.yaml when false (skip FSM on real hardware)

_{Source: control/launch/control.launch.py}

Dependencies

• Runtime: interfaces rclpy sensor_msgs trajectory_msgs

• Test: ament_copyright ament_flake8 ament_pep257 python3-pytest

Python API

Full module/class/function reference for control is generated automatically:

• control