The basic prerequisites for writing a ROS controller are already installed and we have discussed the underlying concepts of controllers. Now we can start creating a package for our own controller.

We are going to develop a controller that can access a joint of the robot and move the robot in a sinusoidal fashion.

The procedure of building a controller is similar to other plugin development that we have seen earlier. The list of procedures to create a ROS controller is given as follows:

• Create a ROS package with necessary dependencies
• Write controller code in C++
• Register or export the C++ class as plugin
• Define the plugin definition in an XML file
• Update the package.xml for exporting the plugin
• Write CMakeLists.txt
• Compile the code
• Writing configuration for our controller
• Start the PR2 simulation in Gazebo
• Load the controller using the controller manager