Controlling Robots Using the ros2_control Package
The lowest layer of a robotic software architecture consists of controllers that connect high-level commands to the robot’s actuators, such as its wheels or joints. In this chapter, we will introduce the ros2_control package, a framework designed to simplify the integration of hardware with control algorithms in robotics applications. We will discuss the use of the Controller Manager and the framework’s structure. Then, we will demonstrate how to integrate specific controllers with a robot, consisting of two joints, simulated using Gazebo. Finally, we will show how to create custom controllers by implementing them as plugins.
Here’s a list of the main topics that will be covered in the chapter:
- Understanding the
ros2_control
framework - The
ros2_control
framework architecture - Interfacing with simulated controllers using Gazebo
- Interacting with the
ros2_control
framework using the...