Controllers

AICA controllers are implemented according to the ros2_control standard.

The main extension that AICA controllers make is the definition of standard interfaces to communicate with components and the Event Engine in a modular way. Controllers have parameters, inputs and outputs that can be connected to components in the application, and expose predicates and transitions to drive application events.

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

AICA Core 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.

AICA Core 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.