ROS1-Real-time-Control

Realtime control by ros_control and gazebo
ROS1 control stack to real-time control a simulated pendulum in Gazebo

my_controller pkg is a customized controller managed by controller_manager and inherited from controller_interface.

Dependencies:

• ros_control
  
• gazebo_ros
  

Create a catkin workspace:
$ mkdir -p ~/catkin_ws/src
$ cd ~/catkin_ws/
$ catkin_make
$ source devel/setup.bash

Steps to run:

Download this directory to /catkin_ws/src
Open a terminal and enter the workspace cd ~/catkin_ws/

1. compile the my_controller package: catkin_make -DCATKIN_WHITELIST_PACKAGES="my_controller"
   
2. source devel/setup.bash
   
3. rosrun rrbot_gazebo rrbot_world.launch Then the model in gazebo (without GUI) and controller are running.
   
4. open another terminal
   enter: rostopic echo -p /rrbot/joint1_position_controller/chatter > data.txt
   wait for data capture
   Ctrl C to stop
   Then you will get a data.txt file, in which stores the update time that we need.
   The first column is simulation time, and the second column is wall-time.
   

The parameters of controller can be adjusted in my_controller/config/my_controller.yaml