Robot Control

Robot Control in Gazebo

Robot control framework for simulations in Gazebo. Designed to be extensible for easily adding new controllers. Works in conjunction with my robot interface package to decouple the controllers from any particular robot.

Robot Interface

Abstraction layer for controlling robots in a unified manner while accounting for robot platform-specific needs.

Real-Time Robot Control

Real-time Orocos controllers for the KUKA LBR4+ robot. Includes a controller switching framework for safely swapping controllers at runtime, and a simulated FRI component that allows Orocos components to be tested Gazebo.