Controllers

ROS 2 controllers provided by HID ROS 2.

hid_generic_broadcaster

Generic broadcaster for HID sensor data.

Features:

  • Publishes all state interfaces

  • Type-aware message generation

  • Configurable publishing rate

Topics Published:

  • /<sensor_name>_states: State data

hid_diagnostic_broadcaster

Device health monitoring controller.

Features:

  • Connection status tracking

  • Error rate monitoring

  • Diagnostic message publishing

Topics Published:

  • /diagnostics: Diagnostic messages

signal_command_controller

Example controller demonstrating bidirectional communication.

Features:

  • Automatically cycles through parameter combinations

  • Writes to command interfaces (amplitude, frequency, phase)

  • Publishes current parameters to topics

  • Example for custom controllers

Topics Published:

  • ~/current_params: Current signal parameters (Float64MultiArray)

Behavior:

  • Automatically updates parameters every 10 seconds (configurable)

  • Cycles through predefined amplitude, frequency, and phase combinations

  • Demonstrates how to write to command interfaces in ros2_control

See Custom Controllers for creating your own.