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UpstreamControlSignal -> DownstreamReferenceSignal
Pipe the output signal of an upstream controller directly as the reference input of a downstream controller in the same real-time execution context.
Problem it solves
Cascaded control loops (e.g., routing velocity commands to joint torque controllers) require high-performance, low-latency communication without ROS topic overhead.
Consumes
Emits
The real projects this mechanism was found in. Attribution is the point — this is how the best teams actually do it.