File _service:obs_scm:README.en.md of Package control_toolbox

# control_toolbox

#### Description

The control toolbox contains modules that are useful across all controllers.

#### Software Architecture
Software architecture description

The control_toolbox contains the following methods:

This package contains several C++ classes useful in writing controllers, and so the main documentation can be found on the control_toolbox doxygen page.

input:
```
control_toolbox/
├── cfg
│   └── Parameters.cfg
├── CHANGELOG.rst
├── CMakeLists.txt
├── include
│   └── control_toolbox
├── package.xml
├── README.md
├── scripts
│   └── tune_pid.py
├── src
│   ├── dither.cpp
│   ├── limited_proxy.cpp
│   ├── pid.cpp
│   ├── pid_gains_setter.cpp
│   ├── sine_sweep.cpp
│   └── sinusoid.cpp
├── srv
│   └── SetPidGains.srv
└── test
    └── pid_tests.cpp

```

#### Installation

1.  Download RPM

aarch64:

wget https://117.78.1.88/build/home:davidhan:branches:openEuler:22.03:LTS/standard_aarch64/aarch64/ros-noetic-ros-catkin/ros-noetic-ros-control_toolbox-1.18.2-1.oe2203.aarch64.rpm

x86_64:

wget https://117.78.1.88/build/home:davidhan:branches:openEuler:22.03:LTS/standard_x86_64/x86_64/ros-noetic-ros-catkin/ros-noetic-ros-control_toolbox-1.18.2-1.oe2203.x86_64.rpm

2.  Install RPM

aarch64:

sudo rpm -ivh ros-noetic-ros-control_toolbox-1.18.2-1.oe2203.aarch64.rpm --nodeps --force

x86_64:

sudo rpm -ivh ros-noetic-ros-control_toolbox-1.18.2-1.oe2203.x86_64.rpm --nodeps --force

#### Instructions

Dependence installation

sh /opt/ros/noetic/install_dependence.sh

Exit the following output file under the /opt/ros/noetic/ directory , Prove that the software installation is successful

output:
```
control_toolbox/
├── cmake.lock
├── env.sh
├── include
│   └── control_toolbox
├── lib
│   ├── libcontrol_toolbox.so
│   ├── pkgconfig
│   └── python2.7
├── local_setup.bash
├── local_setup.sh
├── local_setup.zsh
├── setup.bash
├── setup.sh
├── _setup_util.py
├── setup.zsh
└── share
    ├── common-lisp
    ├── control_toolbox
    ├── gennodejs
    └── roseus

```

#### Contribution

1.  Fork the repository
2.  Create Feat_xxx branch
3.  Commit your code
4.  Create Pull Request

#### Gitee Feature

1.  You can use Readme\_XXX.md to support different languages, such as Readme\_en.md, Readme\_zh.md
2.  Gitee blog [blog.gitee.com](https://blog.gitee.com)
3.  Explore open source project [https://gitee.com/explore](https://gitee.com/explore)
4.  The most valuable open source project [GVP](https://gitee.com/gvp)
5.  The manual of Gitee [https://gitee.com/help](https://gitee.com/help)
6.  The most popular members  [https://gitee.com/gitee-stars/](https://gitee.com/gitee-stars/)