ROSCon 2014

Writing robot control software is a challenging task. The mission of ros_control is to lower the entry barrier for exposing hardware to ROS, and to promote the reuse of control code in the same way that ROS has allowed for higher-level code.This talk presents an overview of the project, and the different tools it makes available to expose your robot to software, control it, and interface it with higher-level software. These tools include simulation backends, ready-to-use controllers, controller lifecycle management as well as building blocks for setting up new robots and writing custom controllers in a hardware-agnostic way.