分离参考生成与控制逻辑，让机器人控制器更通用易复用。
Simplifying ROS2 controllers with a modular architecture for robot-agnostic reference generation
- 用独立的参考生成组件处理路径和点数据
- 实测在仿真与真实机械臂上跟踪稳定可靠
- 适合开发复杂控制流程的机器人工程师
本文提出一种新型ROS2模块化架构，将参考获取、验证与插值逻辑从控制算法中解耦。设计专用组件“参考生成器”（Reference Generator），接收外部节点（如规划器）提供的单点或轨迹参考，并通过现有ros2_control链式机制以控制器采样周期写入单点参考。该设计消除了控制器间的重复参考处理代码，提升跨机器人平台的可复用性。实现两类参考生成器：关节空间与笛卡尔空间；配套开发了三种新控制器（带重力补偿的PD、笛卡尔位姿、阻抗控制器），并在模拟及真实Universal Robots和Franka Emika机械臂上验证。结果表明：(i) 所有测试场景下参考均可靠跟踪；(ii) 参考生成器显著减少链式控制器间的重复代码；(iii) 控制器仅专注控制律实现。
原文摘要 · Abstract (English)
This paper introduces a novel modular architecture for ROS2 that decouples the logic required to acquire, validate, and interpolate references from the control laws that track them. The design includes a dedicated component, named Reference Generator, that receives references, in the form of either single points or trajectories, from external nodes (e.g., planners), and writes single-point references at the controller's sampling period via the existing ros2_control chaining mechanism to downstream controllers. This separation removes duplicated reference-handling code from controllers and improves reusability across robot platforms. We implement two reference generators: one for handling joint-space references and one for Cartesian references, along with a set of new controllers (PD with gravity compensation, Cartesian pose, and admittance controllers) and validate the approach on simulated and real Universal Robots and Franka Emika manipulators. Results show that (i) references are tracked reliably in all tested scenarios, (ii) reference generators reduce duplicated reference-handling code across chained controllers to favor the construction and reuse of complex controller pipelines, and (iii) controller implementations remain focused only on control laws.
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