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linear_feedback_controller

  • Software
  • Humanoids and robot learning
  • Library

A ros2_control package of controllers that run linear feedback control for robots, with a PD phase followed by feedback driven by an external controller such as a whole-body MPC.

Made by loco-3d.

Source on GitHub: github.com/loco-3d/linear-feedback-controller (opens in a new tab). Facts read at commit cdf6b99 (opens in a new tab).

Licenses

Code
BSD-2-Clause (opens in a new tab)

Read by Robotheca from LICENSE (opens in a new tab) (BSD-2-Clause) at commit cdf6b99 (opens in a new tab), on 16 Oct 2026.

Commercial use
Yes

What it does

  • Main controller switches from PD stabilization to linear feedback control, with the switch timed by a configurable duration.
  • Publishes base pose and velocity for free-flying robots (identity for fixed-base) plus joint positions, velocities and efforts.
  • Receives control commands carrying a feedback gain matrix, a feedforward torque and the linearization state.
  • JointStateEstimator filters joint velocities with exponential smoothing so raw sensor data suits downstream controllers.
  • PassthroughController renames and forwards reference interfaces to command interfaces, helping hardware and simulation share one parameter file.
  • Message definitions come from a separate linear_feedback_controller_msgs package.

Written by Robotheca from the project's README (opens in a new tab) at commit cdf6b99.

Getting started

Difficulty
Advanced

Maintenance

Status
Active: a commit in the last 90 days
Newest commit
15 Oct 2026 on main
Latest release
Release v4.0.4 (28 Jul 2026)

Checked on GitHub on 16 Oct 2026.

Links

Robots that can run it

No robot on Robotheca is linked to it yet. Links come from a robot's robot.yaml, from its dependency files read as text, or from Robotheca's editors.

Robotheca lists software as a reference: nothing is hosted or run here, and every fact links to where it was read.