Overview of the robot’s controllers

Section

⚙️ Robot hardware - high-level documentation

Overview

General documentation

• 🚧 Whole Body Control
• 🚧 Low-level controllers and ros2_control
• 🚧 Joint trajectory controllers
• Joint trajectory impedance controller
• Gravity Compensation controller
• How to change your robot’s motion controller

Tutorials

• 🚧 Tutorial: Using ros_control
• 🚧 Tutorial: WBC with Aruco demo
• 🚧 Tutorial: WBC upper-body teleoperation with joystick
• 🚧 Tutorial: WBC with admittance control demo
• 🚧 Tutorial: WBC upper-body teleoperation with leap motion
• 🚧 Tutorial: WBC with rviz interactive markers

See also

• Return to the general hardware overview