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Contents
This package contains the interface definitions (in header files) for the robot_controllers framework. ROS message definitions are contained in the robot_controllers_msgs package. This is a robot control infrastructure, developed initially for Fetch and Freight, but designed to be robot-agnostic.
In comparison to ros_control, robot_controllers offers the ability to "stack" controllers and avoids template-based hardware interfaces. robot_controllers has not be designed with real-time constraints in mind, and is intended primarily for robots where the real-time joint-level controllers are run in hardware, as is the case for Fetch and Freight.
