Controllers

AICA controllers are implemented according to the ros2_control standard.

The main extension that AICA controllers make is the definition of standard signals to communicate with components in a modular way. Controllers have parameters, inputs and outputs that can be connected to components in the application.

Controllers are evaluated at fixed control intervals, defined by the rate of the hardware interface.

The AICA framework includes a number of controller implementation for joint-space and task-space control in position, velocity or force, including force-sensitive impedance and admittance controllers.

The AICA framework can also work with third-party controllers following the ros2_control standard, but may have reduced compatibility with built-in component signal types and dynamically reconfigured parameters.