[ROS2_controller] Add community controllers in "Controllers for Mobile Robots" list on ROS2_control doc

[robotcopper]

Feature description:

Hi,
is it possible to add at least a community controllers list to the Controllers for Mobile Robots list already existing on control.ros.org?

Objective description:

Even include controllers created by the community in the official documentation so that @mateusmenezes95's three-wheeled omnidirectional robot controller can be added.To avoid the difficulty of finding these controllers.

Feature alternative:

Include @mateusmenezes95's three-wheeled omnidirectional robot controller in Controllers for Mobile Robots list in the official documentation.

[christophfroehlich]

Hi! Yes, this would be possible. But maybe @mateusmenezes95 wants to contribute to the ros2_controllers repository and add his controllers here?
I see that there is already some documentation: I would be glad to add the omni-directional robots to the docs, which I started here (reviews are very welcome!)

[mateusmenezes95]

Hello @christophfroehlich

Merge the omnidirectional_controller into the official ros2_controllera repo would be a pleasure. However, I am concerned with two points. First, this controller has yet to be tested on a real robot; I only tested it in simulation. Thus, I don't know its maturity level in embedding in a real robot. Secondly, I need to implement some unit tests for the controller, but I won't be able to until the second semester of this year. I'm pretty busy right now finishing up my master's degree, but I'll get on it as soon as I can.

Thus, I think the link is enough by now, but in the second semester, we can try to merge it into the official repository.

[christophfroehlich]

Nice to hear. I see that there are already some tests there, there is not a lot missing to catch up with the controllers from our repo here (could be more though). And some work needs to be done to migrate the controller to the rolling branch, because we don't merge new features in non-rolling versions.

[github-actions]

This issue is being labeled as stale because it has been open 45 days with no activity. It will be automatically closed after another 45 days without follow-ups.

[bmagyar]

Regardless of how @mateusmenezes95 is comfortable merging his changes into the repo or not, I agree with the initiative of having a "controllers from the community" section or something similar where people could highlight their stuff.

[mateusmenezes95]

With the submission of ros2_controllers#1535, I believe it's not ideal to have two controllers serving the same purpose within the ros2_controllers repository. Moreover, the controller proposed in that PR is more generic than the one I developed, offering broader compatibility with various omni-wheel robots, which makes it more beneficial for the community. Therefore, I support the idea—suggested by @robotcopper and @bmagyar—of creating a dedicated section to reference external controllers. In that section, we could include a link to my project: omnidirectional_controllers.

[christophfroehlich]

Please open a PR, and we will include it ;) There are even a few controllers released to the buildfarm, which we could include here.