controllers_ros

ROS controller interface implementations.

This module defines ROS-backed controller wrappers used by RobotBlockSet robot interfaces. It provides helpers for controller-manager interaction, joint-space impedance commands, and Cartesian impedance commands through ROS topics, actions, and service proxies.

class robotblockset.ros.controllers_ros.ros_controller_interface(ros_controller_name: str, ros_logger_name: str)[source]

Bases: rbs_object

Base class for ROS-backed controller interfaces.

Attributes:

  • _ros_controller_name (str) – Name of the ROS controller resource managed by the interface.

  • _ros_logger_name (str) – Name of the ROS logger associated with the controller.

Initialize the ROS controller interface base.

Parameters:

  • ros_controller_name (str) – Name of the ROS controller resource.

  • ros_logger_name (str) – Name of the ROS logger associated with the controller.

Returns:

This constructor initializes the ROS controller interface in place.

Return type:

None

__init__(ros_controller_name: str, ros_logger_name: str) → None[source]

Initialize the ROS controller interface base.

Parameters:

  • ros_controller_name (str) – Name of the ROS controller resource.

  • ros_logger_name (str) – Name of the ROS logger associated with the controller.

Returns:

This constructor initializes the ROS controller interface in place.

Return type:

None

class robotblockset.ros.controllers_ros.controller_manager_proxy(controller_manager_node_location: str = 'controller_manager', robot_resource_name: str = 'panda')[source]

Bases: object

Proxy around ROS controller-manager services.

Attributes:

  • robot_resource_name (str) – Resource name used to identify controllers that belong to the robot.

  • controller_manager_node_location (str) – ROS namespace of the controller-manager node.

  • current_controller (str) – Name of the currently active controller, if known.

  • _last_controller (str) – Name of the last active controller remembered for restart.

Create a proxy for ROS controller-manager services.

Parameters:

  • controller_manager_node_location (str, optional) – ROS namespace of the controller manager.

  • robot_resource_name (str, optional) – Resource name used to identify robot-specific controllers.

__init__(controller_manager_node_location: str = 'controller_manager', robot_resource_name: str = 'panda') → None[source]

Create a proxy for ROS controller-manager services.

Parameters:

  • controller_manager_node_location (str, optional) – ROS namespace of the controller manager.

  • robot_resource_name (str, optional) – Resource name used to identify robot-specific controllers.

reconnect() → None[source]

Reconnect all controller-manager service proxies.

Return type:

None

update_active_controller() → str[source]

Query the active controller that claims the configured robot resource.

Returns:

Name of the active controller, or an empty string if none was found.

Return type:

str

list_loaded_controllers() → List[str][source]

List names of controllers known to the controller manager.

Returns:

Names of all controllers reported by the controller manager.

Return type:

list[str]

switch_controller(start_controllers: List[str], stop_controllers: List[str], strictness: int = 1) → bool[source]

Switch the active controller set.

Parameters:

  • start_controllers (list[str]) – Names of controllers to start.

  • stop_controllers (list[str]) – Names of controllers to stop.

  • strictness (int, optional) – ROS controller-manager strictness level. 1 means best effort and 2 means strict.

Returns:

True if the switch request succeeded, otherwise False.

Return type:

bool

load_controller(controller_name: str) → bool[source]

Load a controller through the controller manager.

Parameters:

controller_name (str) – Name of the controller to load.

Returns:

True if the controller was loaded successfully, otherwise False.

Return type:

bool

unload_controller(controller_name: str) → bool[source]

Unload a controller through the controller manager.

Parameters:

controller_name (str) – Name of the controller to unload.

Returns:

True if the controller was unloaded successfully, otherwise False.

Return type:

bool

stop_active_controller() → bool[source]

Stop the currently active controller and remember it for restart.

Returns:

True if the stop request succeeded, otherwise False.

Return type:

bool

start_last_controller() → bool[source]

Restart the last controller stopped by stop_active_controller.

Returns:

True if the start request succeeded, otherwise False.

Return type:

bool

stop_controller(controller: str) → bool[source]

Stop the named ROS controller.

Parameters:

controller (str) – Name of the controller to stop.

Returns:

True if the stop request succeeded, otherwise False.

Return type:

bool

start_controller(controller: str) → None[source]

Start the named ROS controller.

Parameters:

controller (str) – Name of the controller to start.

Return type:

None

class robotblockset.ros.controllers_ros.joint_impedance_controller(robot: Any | None = None, namespace: str | None = None, ros_controller_name: str = 'joint_impedance_controller', ros_logger_name: str = 'ros.ijs_controllers')[source]

Bases: ros_controller_interface, joint_controller_type

ROS joint-impedance controller wrapper.

Attributes:

  • _ns (str) – Fully qualified ROS namespace for the controller topics.

  • _robot (Any) – Robot instance associated with the controller.

  • joint_command_publisher (rospy.Publisher) – Publisher used to send joint command messages.

  • joint_action_client (actionlib.SimpleActionClient) – Action client used for trapezoidal-velocity joint moves.

  • joint_impedance_reset_client (rospy.Publisher) – Publisher used to reset the controller target.

  • _joint_command_msg (JointCommand) – Reusable command message instance.

Initialize the ROS joint-impedance controller wrapper.

Parameters:

  • robot (Any, optional) – Robot instance associated with the controller.

  • namespace (str, optional) – Namespace prefix used to resolve controller topics.

  • ros_controller_name (str, optional) – Name of the ROS controller resource.

  • ros_logger_name (str, optional) – Name of the ROS logger associated with the controller.

__init__(robot: Any | None = None, namespace: str | None = None, ros_controller_name: str = 'joint_impedance_controller', ros_logger_name: str = 'ros.ijs_controllers') → None[source]

Initialize the ROS joint-impedance controller wrapper.

Parameters:

  • robot (Any, optional) – Robot instance associated with the controller.

  • namespace (str, optional) – Namespace prefix used to resolve controller topics.

  • ros_controller_name (str, optional) – Name of the ROS controller resource.

  • ros_logger_name (str, optional) – Name of the ROS logger associated with the controller.

GoTo_q(q: ndarray, qdot: ndarray, trq: ndarray, **kwargs: Any) → None[source]

Publish a joint-space command to the impedance controller.

Parameters:

  • q (JointConfigurationType) – Joint-position target.

  • qdot (JointVelocityType) – Joint-velocity target.

  • trq (JointTorqueType) – Joint-torque feedforward command.

Return type:

None

SetJointCompliance(K: ndarray | List[float] | List[int] | Tuple[float, ...] | Tuple[int, ...] | None = None, D: ndarray | List[float] | List[int] | Tuple[float, ...] | Tuple[int, ...] | None = None, hold_pose: bool = True) → None[source]

Update the commanded joint impedance parameters.

Parameters:

  • K (ArrayLike, optional) – Desired joint stiffness values. Scalars are broadcast to all joints.

  • D (ArrayLike, optional) – Desired joint damping values. Scalars are broadcast to all joints.

  • hold_pose (bool, optional) – If True, reset the current target and apply the new compliance at the current commanded pose.

Return type:

None

Notes

When hold_pose is False, the stiffness is ramped in steps to avoid abrupt changes in commanded impedance.

ResetCurrentTarget() → None[source]

Reset the current target of the joint-impedance controller.

Return type:

None

class robotblockset.ros.controllers_ros.cartesian_impedance_controller(robot: Any | None = None, namespace: str | None = None, ros_controller_name: str = 'cartesian_impedance_controller', ros_logger_name: str = 'ros.ijs_controllers')[source]

Bases: ros_controller_interface, cartesian_controller_type

ROS Cartesian-impedance controller wrapper.

Attributes:

  • _ns (str) – Fully qualified ROS namespace for the controller topics.

  • _robot (Any) – Robot instance associated with the controller.

  • cart_activate_publisher (rospy.Publisher) – Publisher used to enable the Cartesian controller.

  • cartesian_command_publisher (rospy.Publisher) – Publisher used to send Cartesian command messages.

  • cart_null_q_publisher (rospy.Publisher) – Publisher used to send null-space joint targets.

  • cart_null_k_publisher (rospy.Publisher) – Publisher used to send null-space stiffness values.

  • reset_target_svc (rospy.Publisher) – Publisher used to reset the controller target.

  • cart_stiff_publisher (rospy.Publisher) – Publisher used to send stiffness-only updates.

  • _cartesian_command_msg (CartesianCommand) – Reusable Cartesian command message instance.

  • _impedance_parameters_msg (ImpedanceParameters) – Reusable impedance message instance.

Initialize the ROS Cartesian-impedance controller wrapper.

Parameters:

  • robot (Any, optional) – Robot instance associated with the controller.

  • namespace (str, optional) – Namespace prefix used to resolve controller topics.

  • ros_controller_name (str, optional) – Name of the ROS controller resource.

  • ros_logger_name (str, optional) – Name of the ROS logger associated with the controller.

__init__(robot: Any | None = None, namespace: str | None = None, ros_controller_name: str = 'cartesian_impedance_controller', ros_logger_name: str = 'ros.ijs_controllers') → None[source]

Initialize the ROS Cartesian-impedance controller wrapper.

Parameters:

  • robot (Any, optional) – Robot instance associated with the controller.

  • namespace (str, optional) – Namespace prefix used to resolve controller topics.

  • ros_controller_name (str, optional) – Name of the ROS controller resource.

  • ros_logger_name (str, optional) – Name of the ROS logger associated with the controller.

ActivateController() → None[source]

Activate the Cartesian controller.

Return type:

None

GoTo_X(x: ndarray, xdot: ndarray, trq: ndarray, wait: float, **kwargs: Any) → None[source]

Publish a Cartesian command to the impedance controller.

Parameters:

  • x (Pose3DType) – Cartesian pose target expressed as position and quaternion.

  • xdot (Velocity3DType) – Cartesian twist command.

  • trq (WrenchType) – End-effector wrench command.

  • wait (float) – Wait time associated with the command.

  • **kwargs (Any) – Optional Cartesian compliance overrides: Kp, Kr, R, and D.

Return type:

None

SetCartImpContNullspace(q: ndarray, k: ndarray) → None[source]

Set null-space target and stiffness for the Cartesian controller.

Parameters:

  • q (JointConfigurationType) – Null-space joint target.

  • k (JointConfigurationType) – Null-space stiffness values.

Return type:

None

GetCartImpContNullspace() → Tuple[ndarray, ndarray][source]

Return the Cartesian-controller null-space target and stiffness.

Returns:

Tuple containing the stored null-space target and stiffness vectors.

Return type:

tuple[JointConfigurationType, JointConfigurationType]

SetCartesianCompliance(Kp: ndarray | List[float] | List[int] | Tuple[float, ...] | Tuple[int, ...] | None = None, Kr: ndarray | List[float] | List[int] | Tuple[float, ...] | Tuple[int, ...] | None = None, R: ndarray | None = None, D: float | None = None, hold_pose: bool = True) → int[source]

Update the commanded Cartesian impedance parameters.

Parameters:

  • Kp (ArrayLike, optional) – Translational stiffness values. Scalars are broadcast to three axes.

  • Kr (ArrayLike, optional) – Rotational stiffness values. Scalars are broadcast to three axes.

  • R (RotationMatrixType, optional) – Rotation matrix used to orient translational stiffness.

  • D (float, optional) – Damping factor in the interval [0, 2].

  • hold_pose (bool, optional) – If True, update compliance while holding the current target pose.

Returns:

0 when the compliance update was accepted.

Return type:

int

Notes

The method updates both the outgoing ROS impedance message and the cached compliance values stored on the attached robot object.

ResetCurrentTarget() → None[source]

Reset the current target of the Cartesian-impedance controller.

Return type:

None

Classes

cartesian_impedance_controller([robot, ...])

ROS Cartesian-impedance controller wrapper.

controller_manager_proxy([...])

Proxy around ROS controller-manager services.

joint_impedance_controller([robot, ...])

ROS joint-impedance controller wrapper.

ros_controller_interface(...)

Base class for ROS-backed controller interfaces.