In this video we get an overview of how ros2_control works, and how to use it in a simulated Gazebo robot.
Follow-up video available at: https://youtu.be/8ByoP_oSdno
? Blog post https://articulatedrobotics.xyz/mobile-robot-12-ros2-control/
?โ?๏ธ GitHub code https://github.com/joshnewans/articubot_one/tree/0085689ee023baac604268cdf7a9ce85a0ed7bae (as of the end of this video)
? Join the discussion at the Articulated Robotics Community https://discourse.articulatedrobotics.xyz/t/discussion-ros2-control-overview-simulation-making-a-mobile-robot-pt-12/91
โค๏ธ Support me on Patreon! https://www.patreon.com/bePatron?u=55656343
For more info check out the ros2_control docs https://control.ros.org/master/index.html
And also this helpful document
https://github.com/ros-controls/roadmap/blob/master/design_drafts/hardware_access.md
00:00 – Why we need ros2_control
02:28 – Hardware side
05:19 – Controller side
07:09 – Controller Manager
08:10 – Adding ros2_control to our Gazebo sim
12:28 – Setting up controllers
17:33 – Running sim & starting controllers
21:06 – Add spawners to launch file
22:30 – Additional comments & outro
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