GitHub - unisa-acg/reference-generators-demo: Demos for the joint and task space reference generators · GitHub

https://github.com/unisa-acg/reference-generators-demo • 278 KB fetched
Open original page

GitHub - unisa-acg/reference-generators-demo: Demos for the joint and task space reference generators · GitHub

Skip to content

Navigation Menu

Sign in Appearance settings

* Platform
* AI CODE CREATION
* GitHub Copilot Write better code with AI

* GitHub Copilot app Direct agents from issue to merge

* MCP Registry Integrate external tools

* DEVELOPER WORKFLOWS
* Actions Automate any workflow

* Codespaces Instant dev environments

* Issues Plan and track work

* Code Review Manage code changes

* Code Quality Enforce quality at merge

* APPLICATION SECURITY
* GitHub Advanced Security Find and fix vulnerabilities

* Code security Secure your code as you build

* Secret protection Stop leaks before they start

* EXPLORE
* Why GitHub

* Documentation

* Blog

* Changelog

* Marketplace

View all features

* Solutions
* BY COMPANY SIZE
* Enterprises

* Small and medium teams

* Startups

* Nonprofits

* BY USE CASE
* App Modernization

* DevSecOps

* DevOps

* CI/CD

* View all use cases

* BY INDUSTRY
* Healthcare

* Financial services

* Manufacturing

* Government

* View all industries

View all solutions

* Resources
* EXPLORE BY TOPIC
* AI

* Software Development

* DevOps

* Security

* View all topics

* EXPLORE BY TYPE
* Customer stories

* Events & webinars

* Ebooks & reports

* Business insights

* GitHub Skills

* SUPPORT & SERVICES
* Documentation

* Customer support

* Community forum

* Trust center

* Partners

View all resources

* Open Source
* COMMUNITY
* GitHub Sponsors Fund open source developers

* PROGRAMS
* Security Lab

* Maintainer Community

* GitHub Stars

* Archive Program

* REPOSITORIES
* Topics

* Trending

* Collections

* Enterprise
* ENTERPRISE SOLUTIONS
* Enterprise platform AI-powered developer platform

* AVAILABLE ADD-ONS
* GitHub Advanced Security Enterprise-grade security features

* Copilot for Business Enterprise-grade AI features

* Premium Support Enterprise-grade 24/7 support

* Pricing
Search /

Sign in
Sign up Appearance settings

You signed in with another tab or window. Reload to refresh your session.
You signed out in another tab or window. Reload to refresh your session.
You switched accounts on another tab or window. Reload to refresh your session.

Dismiss alert

Uh oh!

There was an error while loading. Please reload this page .

unisa-acg

/

reference-generators-demo

Public

*
Notifications
You must be signed in to change notification settings

*
Fork
2

*

Star
4

*

Code

*

Issues
1

*

Pull requests
2

*

Actions

*

Projects

*

Security and quality
0

*

Insights

Additional navigation options

*

Code

*

Issues

*

Pull requests

*

Actions

*

Projects

*

Security and quality

*

Insights

main

Branches Tags

Go to file

Code Open more actions menu

Latest commit
 

History
1 Commit
1 Commit

Folders and files
Name Name Last commit message
Last commit date

acg_common_libraries

acg_common_libraries

 
 

acg_control_msgs

acg_control_msgs

 
 

acg_controller_interface

acg_controller_interface

 
 

acg_hardware_interface_facade

acg_hardware_interface_facade

 
 

cartesian_pose_controller

cartesian_pose_controller

 
 

reference_generator

reference_generator

 
 

ur10_reference_generators_demo

ur10_reference_generators_demo

 
 

.clang-format

.clang-format

 
 

.cmake-format.py

.cmake-format.py

 
 

.gitignore

.gitignore

 
 

.gitmessage

.gitmessage

 
 

.mailmap

.mailmap

 
 

.mdstyle.rb

.mdstyle.rb

 
 

.pre-commit-config.yaml

.pre-commit-config.yaml

 
 

LICENSE.txt

LICENSE.txt

 
 

README.md

README.md

 
 

View all files

Repository files navigation

*

* README

* BSD-3-Clause license

More items

Reference Generators and Repository Overview

This repository provides reference generators components and demos for ROS2 Humble.
Reference generators allow to decouple reference management from control law computation, enabling more flexible, modular, and reusable control systems.
They can handle both online references (received in real time via topics or action servers) and trajectories, and may include features such as interpolation or trajectory execution logic.

For more details about the design, configuration, and usage of reference generators, please refer to the dedicated documentation in the reference_generator package .

What this repository contains

This repository contains a joint space reference generator and a task space reference generator, along with their configurations and example usage.
In particular:

* reference_generator : contains all reference generator components.

* acg_common_libraries : contains common libraries used by the reference generators and controllers.

* acg_common_msgs : contains custom messages used by the reference generators and controllers.

* acg_controller_interface : contains custom semantic components and semantic command components used by the reference generators.

* acg_hardware_interface_facade : contains a series of components that facilitate the interaction with the hardware interface,which are used by both controllers and reference generators.

* cartesian_pose_controller : contains a task space controller, that will be used in the demos.

* ur10_reference_generators_demo : contains a demo that shows how to use both reference generators with a UR10 robot.

Dependencies

This code requires the installation of Ubuntu 22.04 and ROS2 Humble Hawksbill .

System dependencies

To install the packages needed by this repo as system-wide dependencies, run the following command from the repository's root folder:

rosdep install --from-paths . -i

© 2025 Automatic Control Group (DIEM, University of Salerno)

About
Demos for the joint and task space reference generators
Resources
Readme
BSD-3-Clause license
Activity
Custom properties
Stars
4 stars
Watchers
1 watching
Forks
2 forks
Report repository

Releases

Packages

Contributors

Languages

Footer

(c) 2026 GitHub, Inc.

Footer navigation

*
Terms

*
Privacy

*
Security

*
Status

*
Community

*
Docs

*
Contact

*

Manage cookies

*

Do not share my personal information

You can’t perform that action at this time.

Links found on this page

1. Skip to content [direct]
2. Sign in [direct]
3. GitHub Copilot Write better code with AI [direct]
4. GitHub Copilot app Direct agents from issue to merge [direct]
5. MCP Registry Integrate external tools [direct]
6. Actions Automate any workflow [direct]
7. Codespaces Instant dev environments [direct]
8. Issues Plan and track work [direct]
9. Code Review Manage code changes [direct]
10. Code Quality Enforce quality at merge [direct]
11. GitHub Advanced Security Find and fix vulnerabilities [direct]
12. Code security Secure your code as you build [direct]
13. Secret protection Stop leaks before they start [direct]
14. Why GitHub [direct]
15. Documentation [direct]
16. Blog [direct]
17. Changelog [direct]
18. Marketplace [direct]
19. View all features [direct]
20. Enterprises [direct]
21. Small and medium teams [direct]
22. Startups [direct]
23. Nonprofits [direct]
24. App Modernization [direct]
25. DevSecOps [direct]
26. DevOps [direct]
27. CI/CD [direct]
28. View all use cases [direct]
29. Healthcare [direct]
30. Financial services [direct]
31. Manufacturing [direct]
32. Government [direct]
33. View all industries [direct]
34. View all solutions [direct]
35. AI [direct]
36. Software Development [direct]
37. DevOps [direct]
38. Security [direct]
39. View all topics [direct]
40. Customer stories [direct]
41. Events & webinars [direct]
42. Ebooks & reports [direct]
43. Business insights [direct]
44. GitHub Skills [direct]
45. Customer support [direct]
46. Community forum [direct]
47. Trust center [direct]
48. Partners [direct]
49. View all resources [direct]
50. GitHub Sponsors Fund open source developers [direct]
51. Security Lab [direct]
52. Maintainer Community [direct]
53. GitHub Stars [direct]
54. Archive Program [direct]
55. Topics [direct]
56. Trending [direct]
57. Collections [direct]
58. Copilot for Business Enterprise-grade AI features [direct]
59. Premium Support Enterprise-grade 24/7 support [direct]
60. Pricing [direct]
61. Sign up [direct]
62. unisa-acg [direct]
63. Notifications [direct]
64. Issues 1 [direct]
65. Pull requests 2 [direct]
66. Actions [direct]
67. Projects [direct]
68. Security and quality 0 [direct]
69. Insights [direct]
70. Branches [direct]
71. Tags [direct]
72. 1 Commit [direct]
73. acg_common_libraries [direct]
74. acg_control_msgs [direct]
75. acg_controller_interface [direct]
76. acg_hardware_interface_facade [direct]
77. cartesian_pose_controller [direct]
78. reference_generator [direct]
79. ur10_reference_generators_demo [direct]
80. .clang-format [direct]