Posts Tagged “openrave”

Creating a custom controller plugin in OpenRAVE 0.9

I needed to write a plugin-controller for OpenRAVE to support the UR5 robot. Through this process, I have learned about how the ControllerBase class works. In this story, I would like to pass very briefly over about this. I am not going to cover specific details since I found out that some robots use different ROS messages for the joints, I will try to keep the post from a high-level where I explain how OpenRAVE treat functions and the core idea behind making such controllers for robots. I am of course referencing the original code I am hosting on GitHub at the end of the post for you to have a look if you want more detail information. This plugin was created at the Robotics Lab, School of Computing, University of Leeds.

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© 2019 Rafael Papallas
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