ros_control

ros_control is a set of packages to use/write different controllers and write a hardware interface to interface the ROS framework with your robot hardware. ros_control has already created some standard controllers, for example, a position controller and an effort controller. These are implemented in ros_controllers.

The hardware interface for the MARCH exoskeleton is contained in march_hardware_interface </march_hardware_interface> package. See also the march_hardware_interface page.