Skip to content

Latest commit

 

History

History
35 lines (22 loc) · 2.82 KB

ros2_control.MD

File metadata and controls

35 lines (22 loc) · 2.82 KB

ros2_control

ROS 2 Control is a framework designed to manage robot controllers in ROS 2-based robotic systems. It provides a standardized interface for interacting with different types of controllers, such as joint controllers, Cartesian controllers, and other specialized controllers. ROS 2 Control is built on top of the Robot Operating System 2 (ROS 2), which is a popular middleware for developing robotic applications.

Key Components of ROS 2 Control:

  • Hardware Interface: The hardware interface is responsible for communication between the controller manager and the hardware. It abstracts the hardware-specific details, allowing controllers to work with different types of robots and actuators without modification.

  • Controller Manager: The controller manager is responsible for loading, unloading, and managing controllers at runtime. It provides a standardized interface for adding, removing, and switching between controllers dynamically.

  • Controller Interface: The controller interface defines the interface between controllers and the controller manager. It specifies the required methods and data structures that controllers must implement to interact with the controller manager.

  • Controller: A controller is a software module responsible for computing control commands based on sensor feedback. ROS 2 Control supports various types of controllers, including joint position controllers, joint velocity controllers, and Cartesian controllers.video seri

ROS 2 Control Configuration:

To use ROS 2 Control, you need to define a configuration that specifies the hardware interface, controllers, and their parameters. This configuration is typically stored in a YAML file and loaded at runtime by the controller manager. Below is an example configuration file for a simple robotic arm:

hardware_interface:
  type: "ros2_control_demo_hardware/MyRobotHardware"

joint1:
  type: "ros2_control/JointPositionController"
  joint_name: "joint1"
  pid: {p: 100.0, i: 0.01, d: 10.0}

joint2:
  type: "ros2_control/JointPositionController"
  joint_name: "joint2"
  pid: {p: 100.0, i: 0.01, d: 10.0}

video series : [ Solving the problem EVERY robot has (with ros2_control), Using ros2_control to drive our robot (off the edge of the bench...), Easy wireless control for your homemade robot!, Control your ROS robot from your phone!, You can use ANY hardware with ros2_control, I program robots with a video game console, Could this button control your robot? (Beginner micro-ROS Tutorial) ]