Control Loop with ROS

We are trying to make a robotic hand that has force sensors in the finger tips.
We are currently running under ROS and having issues with the latency between the force sensors and the action (speed).
Is it possible to create a control loop using nothing but the Jetson? (No external micro controller)

Thanks in advance for any help!

Hi ddj140030, Jetson has native ports for GPIO, PWM, I2C, SPI, and UART for connecting directly to motor drivers. You may also be able to use a motor controller board with low-level programming as opposed to ROS. For example I’ve had good luck with using Jetson and Polulu’s Simple Motor Controllers and Jrk Controller with feedback.

Yes, it is possible to create a control loop using only the Jetson.

However, I highly recommend that you profile where your latency is. My guess is that the latency is in ROS, rather than in your other hardware.

Get a logic analyzer, make sure to twiddle some GPIO bits at various parts in the code, and detect where the different code paths actually received data and make a change.