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Articulated Robotics

チャンネル登録者数 6.08万人

11万 回視聴 ・ 1893いいね ・ 2022/09/28

Solving the problem EVERY robot has (with ros2_control)

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:    • Ros2_control Extra Bits  
📃 Blog post articulatedrobotics.xyz/mobile-robot-12-ros2-contr…
👨‍💻️ GitHub code github.com/joshnewans/articubot_one/tree/0085689ee… (as of the end of this video)
💬 Join the discussion at the Articulated Robotics Community discourse.articulatedrobotics.xyz/t/discussion-ros…
❤️ Support me on Patreon! www.patreon.com/bePatron?u=55656343


For more info check out the ros2_control docs control.ros.org/master/index.html
And also this helpful document
github.com/ros-controls/roadmap/blob/master/design…



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 & o

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