ONNX in a controller

[bmagyar]

Is your feature request related to a problem? Please describe.
Support the ONNX runtime in a controller

Describe the solution you'd like
Questionable, if this is a requirement for the framework or more for a demo.

[bmagyar]

FYI @olivier-stasse if you have any more details to add

[qiayuanl]

ONNX runtime can be easily added as a custom dependency in some learning-based controllers. What is the relationship between it and the ros-control framework?

[Juliaj]

@qiayuanl , IMO, ONNX runtime is largely transparent to the ROS2 Control Framework which defines standardized interfaces that controllers must implement, regardless of their internal implementation details.

That said, there are a few practical considerations which developers may need to consider for learning based controller, for example: the performance overhead (including ONNX Runtime overhead) and how it fits within control loop timing constraints, error handling and real-time compliance etc.