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--- teaching:se-kiba:manipulation-assignment:joint-space-controller [2013/05/13 14:22] – [Using our controller from] bartelsg
+++ teaching:se-kiba:manipulation-assignment:joint-space-controller [2016/05/19 09:19] (current) – external edit 127.0.0.1
@@ Line 8: / Line 8: @@
   * Create a new package for our controllers called iai_seminar_manipulation_controllers. Make sure it depends on the necessary pr2-interface packages.
-  * Create a new h-file for the controller in a suitable include-sub-directory, and add the minimally necessary function headers to comply with the controller interface. Choose a fitting name for the controller. ;)
+  * Copy IAISeminarMultiJointPositionController.h for the controller in a suitable include-sub-directory.
   * Create the corresponding cpp-file in src, and add empty implementations for the functions declared in the h-file.
   * Add our still empty controller as a __regular__ library (NOT a controller plugin library) to the CMakeLists, and try compiling.
@@ Line 72: / Line 72: @@
 ==== Adding a launch-file ====
 We will now add a launch-file to start our controllers automatically:
-  * From the materials-directory, copy the file pr2_multi_joint_position_controllers.yaml into your launch directory.
+  * From the materials-directory, copy the file pr2_multi_joint_position_controllers.yaml into the config directory of our controllers package.
   * Create a new launch-file with a name sounding like it starts the joint position controllers on the pr2.
   * In this launch-file, Load the parameters given in the yaml-file.