Controllers Reference

ROS 2 controllers in arms_ros2_control.

分体控制 vs 全身控制

Mode	Controllers	Launch
分体控制 (Split Body)	Arm MPC: OCS2 Arm Controller (ocs2_arm_controller). Body / head / 灵巧手: Basic Joint Controller (basic_joint_controller)	ocs2_arm_controller split_body.launch.py (launch_mode split_body)
全身控制 (Full Body)	Unified OCS2 WBC Controller (ocs2_wbc_controller, ocs2_wheel_humanoid)	ocs2_arm_controller full_body.launch.py (launch_mode full_body)

Concepts: 分体控制 vs 全身控制. How-to: Use Basic Joint Controller. /fsm_command is std_msgs/Int32; Action / Service types and WBC body/head topics: FSM and Topics. Msg / srv / action definitions: arms_ros2_control_msgs README. End-effectors on OCS2 launches: type / left_type / right_type from robot_common_launch.

In This Section

• Basic Joint Controller
• ocs2_ros2
• OCS2 Arm Controller
• OCS2 WBC Controller
• ocs2-humanoid
• lina_planning
• Adaptive Gripper Controller
• Controller ROS 2 parameters

Quick Reference

Controller	Purpose	Visibility
Basic Joint Controller	Joint FSM (HOME / HOLD / MOVEJ); body/head/灵巧手 in 分体控制 (basic_joint_controller)	Public
ocs2_ros2	MPC library	External
OCS2 Arm Controller	Arm MPC; 分体控制 with Basic Joint (ocs2_arm_controller)	Public
OCS2 WBC Controller	全身控制 (ocs2_wbc_controller)	Private
ocs2-humanoid	ocs2_wheel_humanoid library	Private
lina_planning	Trajectory primitives	Private
Adaptive Gripper Controller	夹爪 (adaptive_gripper_controller, three channels + force feedback); arms_target_manager Cartesian topics	Public
ROS 2 parameters	Per-controller param tables; Startup vs Runtime	Public